CN113503927A - Drainage pipeline detection robot with flight time module and detection method thereof - Google Patents
Drainage pipeline detection robot with flight time module and detection method thereof Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- 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
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
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- H—ELECTRICITY
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
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Abstract
The invention provides a drainage pipeline detection robot carrying a flight time module and a detection method thereof, wherein the drainage pipeline detection robot comprises an integrated camera, a TOF image data processing system and a comprehensive analysis system, wherein the integrated camera comprises a camera, a laser light source, a TOF imaging sensor and a chip; the laser light source emits laser; the TOF imaging sensor collects laser folded back in the drainage pipeline and converts the laser folded back in the drainage pipeline into an electric signal; further converting the electric signal into a digital signal and transmitting the digital signal to the chip; the TOF image data processing system processes the data; recording information by a camera; and the comprehensive analysis system comprehensively overlaps the processed data and the information recorded by the camera. According to the invention, through image processing and image analysis, the pipeline can be identified and judged to form an analysis report of the pipeline defect, so that a large amount of manual interpretation time and accuracy are saved, the pipeline network detection efficiency is improved, and the detection cost is reduced.
Description
Technical Field
The invention relates to the technical field of drainage pipeline detection, in particular to a drainage pipeline detection robot carrying a flight time module and a detection method thereof.
Background
The current detection technology applied to the interior of underground drainage pipelines comprises the following steps: pipeline Closed Circuit Television (CCTV), periscope detection technology, sonar, laser and other detection technologies.
The detection of the Closed Circuit Television (CCTV) of the pipeline is mainly realized by using a camera to enter a drainage pipeline to transmit image data to a control computer and then carrying out data analysis detection in a closed circuit television video recording mode. During detection, the water level in the pipeline needs to be temporarily reduced, and auxiliary work (such as temporary water transfer, plugging and the like) needs to be temporarily carried out for a drainage pipe network for detecting high-water-level operation. The CCTV robot transmits the collected images of the interior of the pipeline to a main controller in real time through a cable for real-time monitoring, detects and makes a video shot of the conditions of rust, scale, corrosion, perforation, cracks and the like in the pipeline, and then a trained professional judges video data to classify and grade the defects of the pipeline.
Periscope detection technology is a short-term test technique, utilizes adjustable length's action bars to carry high definition probe and puts into the inspection shaft, and the inside information of seizure pipeline that can be clear forms the video recording. The periscope is short in detection distance and incapable of detecting the water surface, and is used for detecting pipeline auxiliary structures such as short-distance pipelines or independent inspection wells. In practical application, periscope detection is often used in combination with CCTV detection technology for detecting pipeline auxiliary structures such as short-distance pipelines or independent inspection wells.
The pipeline sonar detection system adopts an acoustic method to detect the internal condition of a pipeline filled with liquid, does not need to drain the liquid in the pipeline, can generate a cross-sectional diagram of the pipeline, intuitively knows the general situation of sludge deposition in the pipeline, but cannot be used as the basis for judging the pipeline structure. Sonar detection is applied to the condition of ponding in the pipeline, and CCTV detects the supplement of means.
The laser detection technology is mainly used for detecting structural defects of the pipeline, such as geometric deformation, surface cracks, breakage and the like, can relatively accurately position the pipeline and identify the basic shape of the pipeline defect, and has the highest working efficiency in a completely dark environment because a laser beam can keep higher contrast under the dark condition, but brings difficulty for an operator to operate and control the machine.
The relevant documents include 01. Dengyueza 1, Liying 1, Zhang Guo 2(1. Beijing university of construction, major laboratory of urban rainwater system and water environment education department, Beijing 100032; 2. Beijing initiative GmbH, Beijing 100032).
Chinese patent publication No. CN103423596A discloses a drainage pipeline detection and evaluation method using a handheld video and a closed-circuit television, which includes performing preliminary detection using the handheld video, calculating and obtaining a pipeline deformation degree, a pipeline fracture/collapse degree, a pipeline interface dislocation degree, a pipeline protrusion interface/pipe penetration degree and a pipeline blockage degree by using detection data of the handheld video, classifying according to a standard according to a calculation result, and executing corresponding operations according to a classification result.
In view of the related art in the above, the inventors consider that the following problems exist in the above documents: (1) in the actual detection process, water vapor can be attached to the surface of a camera of the CCTV robot to form a fog screen, so that the observation, detection and recording processes of the CCTV are influenced. (2) The CCTV video interpretation process is complex, the workload is large, and the accuracy of the defect detection and interpretation practice is greatly influenced by the experience and skill level of workers; and is limited by the quality of the pictures and videos taken, some tiny cracks cannot be captured by the interpreters. (3) The traditional laser detection means at present is influenced by light, and an operator is difficult to operate the machine. In a dark environment, some micro-cracks are easily overlooked and the laser does not detect the inflow or outflow of water. The roughness of the tube wall surface can reduce the optical signal, thereby affecting the detection result. (4) The intelligent operation and maintenance management system is the direction of pipe network operation management, related engineering construction work is being done in the pipe network industry at present, the informatization degree of the traditional pipeline detection work is low, and the intelligent management process of the pipe network cannot be kept up with.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a drainage pipeline detection robot carrying a flight time module and a detection method thereof.
The drainage pipeline detection robot with the flight time module comprises an integrated camera, a TOF image data processing system and a comprehensive analysis system, wherein the integrated camera comprises a camera, a laser light source, a TOF imaging sensor and a chip;
the laser light source emits laser, and the laser is conducted in the drainage pipeline to meet the obstacle and turn back;
the TOF imaging sensor is used for collecting laser folded back in the drainage pipeline and converting the laser folded back in the drainage pipeline into an electric signal; further converting the electric signal into a digital signal, and transmitting the digital signal to the chip;
the chip caches digital signal data, temporarily stores the data and sends the data to a TOF image data processing system;
the TOF image data processing system processes the data and transmits the processed data to the comprehensive analysis system;
the camera records information;
and the comprehensive analysis system comprehensively overlaps the processed data and the information recorded by the camera.
Preferably, the drainage pipeline detection robot further comprises a light supplementing light source, and the light supplementing light source supplements light for the field of view of the camera.
Preferably, the drain pipeline inspection robot further comprises a terminal and wheels, and the terminal controls the advancing direction and the advancing speed of the wheels.
Preferably, the drainage pipeline detection robot further comprises an expansion bracket; the telescopic frame adjusts the height and the angle of the camera, and controls the visual field of the camera and the position of the TOF imaging sensor.
Preferably, the drainage pipeline detection robot comprises a master control system, wherein the TOF image data processing system and the master control system are arranged on a terminal; the total control system comprises a controller, the chip comprises a cache module, the digital signals are transmitted to the cache module, and the cache module temporarily stores the digital signal data collected by the chip and sends the data to a TOF image data processing system on the terminal through the controller.
Preferably, the integrated camera is subjected to antifogging treatment, and a super-hydrophilic coating is arranged on the camera.
Preferably, the TOF imaging sensor comprises a plurality of shutters which acquire the laser light retraced in the duct at different times.
A drainage pipeline detection robot detection method carrying a flight time module comprises the following steps:
a pipeline detection preparation step: when the detection is started, a power supply of a drainage pipeline detection robot is turned on, the drainage pipeline detection robot is placed at the starting point of a pipe section to be detected, an integrated camera is turned on, a light supplementing light source is turned on, the advancing direction and the advancing speed of wheels are controlled by a terminal, the height of the camera is adjusted by using a telescopic frame, the angle of the camera is adjusted, and the visual field of the camera and the position of a TOF imaging sensor are controlled;
A pipeline data acquisition step: the camera starts to record video information; the laser source emits laser, the TOF imaging sensor converts the laser folded back in the pipeline into an electric signal, the electric signal is converted into a digital signal and then transmitted to the cache module, the cache module transmits the data to the TOF image data processing system on the terminal through the controller, and the TOF image data processing system transmits the processed data to the comprehensive analysis system to be comprehensively superposed with information recorded by the camera so as to obtain superposed information;
a pipeline recovery step: and after the detection is finished, a drainage pipeline detection robot is put forward, the pipeline blockage is removed, and the road surface driving is recovered.
Preferably, the detection method further comprises the early stage steps of pipeline detection: the early-stage work of pipeline detection comprises data collection, site survey, instrument self-inspection, safety mark establishment, pipeline plugging and dredging.
Preferably, the detection method further comprises a detection report uploading step: the terminal adopts a data processing system, the data processing system automatically processes and analyzes the superposed information to form a detection report, and the detection report is uploaded to a local pipe network GIS system.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the invention, through image processing and image analysis, the breakage, leakage, deformation, foreign body damage, fine cracks on the pipe wall and the like of the pipeline can be identified and judged, so that an analysis report of the pipeline defects is formed, a large amount of manual interpretation time and accuracy are saved, the efficiency of pipe network detection is improved, and the detection cost is reduced;
2. the invention relates to a series of information, such as: the method comprises the following steps that information such as the length of a pipeline, geographic coordinates, the diameter of the pipeline, the material quality, the damage condition, the size position of a crack, the length and the like is automatically uploaded to a geographic information management system (GIS), so that the detection work of the pipeline is advanced to an intelligent management stage;
3. the invention can be applied to the simulation disaster prevention work of the pipeline, and can be used for guiding the related position, the crack depth and the thickness of a slight pipeline crack into the pipe network simulation software, and combining the related position, the crack depth and the thickness with the data of the water quantity, the water pressure, the pipeline corner and the like of the pipeline, so that the position and the time of pipe explosion of the pipeline can be simulated, and the invention has important significance for the prevention and the treatment of the disaster;
4. the invention solves the problem that the lens of the robot is atomized and can not be normally detected.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a structural diagram of a CCTV-TOF pipeline inspection robot according to the present invention;
FIG. 2 is a diagram of a CCTV-TOF integrated camera;
fig. 3 is a system configuration diagram of the robot of the present invention.
Reference numerals:
u-shaped protective strip 1 vehicle body 7
CCTV-TOF integrated camera 2 integrated camera support 8
LED light supplement light source 3 CCTV camera 9
Telescoping gantry 4 TOF-3D imaging sensor 10
Wheel 5 laser light source 11
Cable 6
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
The embodiment of the invention discloses a drainage pipeline detection robot carrying a flight time module, which comprises an integrated camera, a TOF image data processing system and a comprehensive analysis system, wherein the integrated camera comprises a camera, a laser light source 11, a TOF imaging sensor, an integrated camera support 8 and a chip, and is arranged on the integrated camera support 8, as shown in figures 1 and 2. The integrated camera comprises a CCTV-TOF integrated camera 2, the TOF image data processing system comprises a TOF-3D image data processing system, the camera comprises a CCTV camera 9, and the TOF imaging sensor comprises a TOF-3D imaging sensor 10. The CCTV-TOF integrated camera 2 is installed on an integrated camera support 8, and the integrated camera comprises a CCTV camera 9, a TOF-3D imaging sensor 10 and a laser light source 11.
The laser light source 11 emits laser light, and the laser light is conducted in the drainage pipeline to meet the obstacle and return. The laser can propagate in vacuum without medium, and can return when meeting obstacles. TOF imaging sensor gathers the laser that turns back in the drainage pipe to turn back the laser that turns back in the drainage pipe into the signal of telecommunication, and then turn into digital signal with the signal of telecommunication, transmit digital signal to the chip.
The chip buffers digital signal data, temporarily stores the data and sends the data to the TOF image data processing system. The buffer module temporarily stores the digital signal data collected by the chip and transmits the data to a TOF image data processing system on the terminal through the controller. The digital signal has higher anti-interference performance in the transmission process, and can occupy less bandwidth through compression, thereby realizing the effect of transmitting more and higher video and other digital signals in the same bandwidth. In addition, the digital signal may be stored and used directly in computer processing. The TOF image data processing system processes the data and transmits the processed data to the comprehensive analysis system. The camera records information. And the comprehensive analysis system comprehensively overlaps the processed data and the information recorded by the camera. The drainage pipeline detection robot comprises a master control system, wherein a TOF image data processing system and the master control system are arranged on a terminal; the total control system comprises a controller, the chip comprises a cache module, digital signals are transmitted to the cache module, the cache module caches a large amount of data to guarantee data transmission quality, the cache module temporarily stores a large amount of data collected by the TOF and sends the data to the TOF image data processing system on the terminal through the controller. The cache module temporarily stores a large amount of returned information in the cache module.
The drainage pipeline detection robot further comprises a light supplementing light source, and the light supplementing light source comprises an LED light supplementing light source 3. The light supplementing light source is used for supplementing light for the visual field of the camera.
The drainage pipeline detection robot further comprises a terminal and wheels 5, wherein the terminal controls the advancing direction and the advancing speed of the wheels 5. The terminal comprises a computer notebook terminal.
The drainage pipeline detection robot also comprises an expansion bracket 3; the telescopic frame 3 adjusts the height and the angle of the camera, and controls the visual field of the camera and the position of the TOF imaging sensor.
The drainage pipeline detection robot comprises a vehicle body 7 and a cable 6, wherein a U-shaped protection strip 1 and an expansion bracket 4 are arranged on the vehicle body 7, video and TOF signals are transmitted to a notebook terminal through the cable 6, and the notebook terminal can watch CCTV videos and analog images of the TOF in real time and synthesize data processing information at the notebook terminal.
The integrated camera carries out antifogging treatment, sets up super hydrophilic coating on the camera. Carrying out antifogging treatment on the integrated camera: with the even super hydrophilic coating of camera surface spraying, increased the surface tension of water, water can't form the drop on its surface, but is the water film at the substrate surface shakeouts, guarantees that light normally passes, does not influence the sight, plays antifog effect, ensures that the testing process goes on smoothly.
TOF imaging sensors include a plurality of shutters that collect reflected light at different times, i.e., the shutters collect laser light that is retraced within the duct at different times. TOF imaging sensors, which are the core of TOF cameras and are more complex than ordinary image sensors, contain 4 shutters to sample the reflected light at different times. The light pulse sequence triggered by the electronic control unit of the control unit camera is precisely synchronized with the opening/closing of the chip electronic shutter and performs readout and conversion of the sensor charges, directing them to the analysis unit and the data interface.
As shown in fig. 3, the whole structure of the CCTV-TOF system is briefly introduced, and the pipeline inspection robot comprises two parts: the pipeline robot, a hardware operating system and a software system for data processing. By integrating the CCTV module with the TOF data acquisition system and integrating the software analysis system, the pipeline detection robot with a new function is obtained, and a comprehensive pipeline detection report containing a TOF detection analysis report and a CCTV video can be provided.
The pipeline detection robot of the invention adds A, B systems on the CCTV robot: A. the TOF-3D image acquisition system comprises a TOF camera laser light source 11, a TOF-3D imaging sensor 10, a chip (information storage, processing and transmission) and the like. The CCTV-TOF integrated camera 2 and the chip are carried on the CCTV pipeline detection robot. B. And a TOF-3D image data processing module. The module is installed in a computer notebook terminal operating the robot.
The master control system comprises a master control module and a master controller, wherein the master control module is arranged in the host, and the master controller is operating hardware.
The CCTV-TOF detection robot comprises a TOF-3D data shooting and collecting system, a TOF-3D image data processing system (comprising a control module, an information storage module and an information transmission module), a CCTV data collecting system, a vehicle body walking and operating system and a comprehensive analysis system (a comprehensive information processing module).
The CCTV pipeline robot is provided with a TOF sensor unit and an information processing system, and comprises a CCTV-TOF integrated camera 2, wherein the CCTV-TOF integrated camera 2 comprises a TOF camera laser light source 11, an imaging sensor, a chip (information storage, processing and transmission), and the like.
The robot comprises a data processing system of TOF, a master control system and professional software. The 3D-TOF image sensor processing system is a computing unit and comprises a detection information positioning module, a detection information processing module and a detection information transmission module. The detection information positioning module: the geographic coordinates of the pipeline, the travel position of the robot in the pipeline, are located. The detection information processing module: and converting the laser folded back in the pipeline into an electric signal and then converting the electric signal into a digital signal. The detection information transmission module: the digital signal is transmitted to an integrated information processing system.
The master control system is arranged on the notebook computer terminal and used for coordinating and controlling the acquisition, the caching, the data transmission and the analysis processing of data. And the professional software realizes the presentation of data and video and generates an evaluation report. The professional software is display software carried by CCTV.
The embodiment of the invention also discloses a drainage pipeline detection robot detection method carrying the flight time module, namely a pipeline detection method combining TOF and CCTV drainage pipeline detection technologies, as shown in the figure 1 and the figure 2, the method comprises the following steps of: the method comprises the steps of pipeline detection early stage: the early-stage work of pipeline detection comprises data collection, site survey, instrument self-inspection, safety mark establishment, pipeline plugging and dredging.
A pipeline detection preparation step: when the detection is started, a power supply of the drainage pipeline detection robot is turned on, the drainage pipeline detection robot is placed into the starting point of a pipe section to be detected, the integrated camera is turned on, the light supplementing light source is turned on, the advancing direction and the advancing speed of the wheels 5 are controlled by the terminal, the height of the camera is adjusted by the aid of the telescopic frame 3, the angle of the camera is adjusted, and the visual field of the camera and the position of the TOF imaging sensor are controlled. When the detection is started, a power supply of the pipeline detection robot is turned on, the pipeline robot is placed into a starting point of a pipe section to be detected, an integrated camera comprising TOF-3D data acquisition and CCTV video acquisition is turned on, an LED light supplementing light source 3 is turned on, the advancing direction and the advancing speed of wheels 5 of the pipeline robot are controlled by a notebook terminal, the height of the camera is adjusted by using an expansion bracket 3, the angle of the camera is adjusted, and the CCTV field of view and the position of a TOF sensor are controlled. After the robot descends the pipeline and adjusts the angle, the CCTV camera and the TOF sensor are started simultaneously, and the CCTV camera starts to record after being started.
A pipeline data acquisition step: the laser light source 11 emits laser, the TOF imaging sensor converts laser folded back in the pipeline into an electric signal, the electric signal is converted into a digital signal and then transmitted to the cache module, the cache module transmits data to the TOF image data processing system on the terminal through the controller, and the TOF image data processing system transmits the processed data to the comprehensive analysis system to be comprehensively superposed with information recorded by the camera so as to obtain superposed information. The TOF-3D data acquisition system starts to work, a laser light source 11 emits laser, a TOF-3D imaging sensor 10 converts the laser folded back in the pipeline into an electric signal, the electric signal is converted into a digital signal and then transmitted to a cache module (on a chip in the CCTV-TOF integrated camera 2), data is sent to a TOF-3D image data processing system on the notebook computer terminal through a controller, and the processed information is transmitted to a comprehensive analysis system and is comprehensively superposed with CCTV recorded information. In the whole process, all parts of acquisition, caching, data transmission and the like are coordinated under the control of a master control system (on a notebook computer terminal).
A pipeline recovery step: and after the detection is finished, a drainage pipeline detection robot is put forward, the pipeline blockage is removed, and the road surface driving is recovered.
A detection report uploading step: the terminal adopts a data processing system, the data processing system automatically processes and analyzes the superposed information to form a detection report, and the detection report is uploaded to a local pipe network GIS system. And the data processing system of the notebook terminal automatically processes and analyzes the CCTV data and the TOF data to form a detection report, wherein the detection report comprises two parts of analyzed text, images and CCTV videos of TOF information. And uploading the detection information to a local pipe network GIS system. The analysis report of the TOF and the CCTV video are two pieces of information, and the two pieces of information can be subjected to coupling analysis after the system is updated, such as analysis when the detection results are inconsistent.
The invention belongs to the technical field of drainage pipeline detection. TOF is a shorthand for Time Of Flight, which translates to Time Of Flight, and as the name suggests, the calculation Of the distance between target objects is done based on the propagation Time Of the light signal between the target object and the sensor and the propagation speed Of the light. The image sensor of the flight time three-dimensional distance measuring instrument has unique functions, and each pixel is a complete demodulation receiver, so that a laser scanner is not required to scan point by point to combine a three-dimensional image, and each pixel works in parallel to directly complete the real-time measurement of three-dimensional information.
TOF technology has the following advantages: compared to other distance sensors (e.g., ultrasound or laser), time-of-flight sensors can very quickly compose a 3D image of a scene, accurately detecting objects in a short time. TOF detection is not influenced by humidity, atmospheric pressure and temperature, and is particularly suitable for the environment in a wet underground pipeline. The TOF sensor uses laser light, and is capable of measuring long distance pipes with high accuracy. TOF sensors have the flexibility to detect short and long distance objects of various shapes and sizes.
Data imaging of the TOF is rapid, CCTV and TOF3D analog imaging can be synchronously observed at the notebook terminal by using matched special software, the traveling speed angle of the robot can be adjusted according to the field condition, and the like. The processing system can transmit and detect the real-time condition on line, and is convenient for a remote client to watch.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A drainage pipeline detection robot carrying a flight time module is characterized by comprising an integrated camera, a TOF image data processing system and a comprehensive analysis system, wherein the integrated camera comprises a camera, a laser light source (11), a TOF imaging sensor and a chip;
The laser light source (11) emits laser, and the laser is conducted in the drainage pipeline to meet an obstacle and then turns back;
the TOF imaging sensor is used for collecting laser folded back in the drainage pipeline and converting the laser folded back in the drainage pipeline into an electric signal; further converting the electric signal into a digital signal, and transmitting the digital signal to the chip;
the chip caches digital signal data, temporarily stores the data and sends the data to a TOF image data processing system;
the TOF image data processing system processes the data and transmits the processed data to the comprehensive analysis system;
the camera records information;
and the comprehensive analysis system comprehensively overlaps the processed data and the information recorded by the camera.
2. The drainage pipeline inspection robot with the time-of-flight module as claimed in claim 1, further comprising a light supplement light source for supplementing light for the field of view of the camera.
3. The time-of-flight module-mounted drainpipe inspection robot of claim 1, further comprising a terminal and wheels (5), wherein the terminal controls the advancing direction and the advancing speed of the wheels (5).
4. The time-of-flight module-mounted drainpipe inspection robot of claim 1, wherein the drainpipe inspection robot further comprises an expansion bracket (4); the telescopic frame (4) adjusts the height and the angle of the camera, and controls the visual field of the camera and the position of the TOF imaging sensor.
5. The time-of-flight module-mounted drainage pipeline inspection robot according to claim 1, wherein the drainage pipeline inspection robot comprises an overall control system, and the TOF image data processing system and the overall control system are mounted on a terminal; the total control system comprises a controller, the chip comprises a cache module, the digital signals are transmitted to the cache module, and the cache module temporarily stores the digital signal data collected by the chip and sends the data to the TOF image data processing system on the terminal through the controller.
6. The time-of-flight module-mounted drainage pipeline inspection robot according to claim 1, wherein the integrated camera is subjected to anti-fog treatment, and a super-hydrophilic coating is arranged on the camera.
7. The time-of-flight module-mounted drainage pipeline inspection robot according to claim 1, wherein the TOF imaging sensor comprises a plurality of shutters, and the shutters collect laser light reflected back in the pipeline at different times.
8. A detection method of a drainage pipeline detection robot carrying a flight time module is characterized in that the drainage pipeline detection robot carrying the flight time module as claimed in any one of claims 1 to 7 is applied, and comprises the following steps:
a pipeline detection preparation step: when the detection is started, a power supply of a drainage pipeline detection robot is turned on, the drainage pipeline detection robot is placed at the starting point of a pipe section to be detected, an integrated camera is turned on, a light supplement light source is turned on, the advancing direction and the advancing speed of wheels (5) are controlled by a terminal, the height of the camera is adjusted by using an expansion bracket (4), the angle of the camera is adjusted, and the visual field of the camera and the position of a TOF imaging sensor are controlled;
a pipeline data acquisition step: the camera starts to record video information; the laser source (11) emits laser, the TOF imaging sensor converts the laser folded back in the pipeline into an electric signal, the electric signal is converted into a digital signal and then transmitted to the cache module, the cache module sends data to the TOF image data processing system on the terminal through the controller, and the TOF image data processing system transmits the processed data to the comprehensive analysis system to be comprehensively superposed with information recorded by the camera so as to obtain superposed information;
A pipeline recovery step: and after the detection is finished, a drainage pipeline detection robot is put forward, the pipeline blockage is removed, and the road surface driving is recovered.
9. The drainage pipeline inspection robot detection method according to claim 8, further comprising a pipeline inspection early-stage step of: the early-stage work of pipeline detection comprises data collection, site survey, instrument self-inspection, safety mark establishment, pipeline plugging and dredging.
10. The drainage pipeline inspection robot detection method according to claim 8, further comprising a detection report uploading step of: the terminal adopts a data processing system, the data processing system automatically processes and analyzes the superposed information to form a detection report, and the detection report is uploaded to a local pipe network GIS system.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114202573A (en) * | 2022-02-18 | 2022-03-18 | 南京路健通工程技术有限公司 | Prompting method and device for roads in tourist area |
| CN114440054A (en) * | 2022-02-11 | 2022-05-06 | 阜阳嘉瑞环境科技有限公司 | Spiral propelling type all-terrain pipeline detection robot |
| CN115199859A (en) * | 2022-07-14 | 2022-10-18 | 重庆大学 | Rapid diagnosis method for leakage of long-distance underground pipeline |
| CN116443590A (en) * | 2023-06-15 | 2023-07-18 | 邢台职业技术学院 | Powder material pipeline conveying monitoring device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114440054A (en) * | 2022-02-11 | 2022-05-06 | 阜阳嘉瑞环境科技有限公司 | Spiral propelling type all-terrain pipeline detection robot |
| CN114202573A (en) * | 2022-02-18 | 2022-03-18 | 南京路健通工程技术有限公司 | Prompting method and device for roads in tourist area |
| CN115199859A (en) * | 2022-07-14 | 2022-10-18 | 重庆大学 | Rapid diagnosis method for leakage of long-distance underground pipeline |
| CN115199859B (en) * | 2022-07-14 | 2024-02-06 | 重庆大学 | Rapid diagnosis method for leakage of long-distance underground pipeline |
| CN116443590A (en) * | 2023-06-15 | 2023-07-18 | 邢台职业技术学院 | Powder material pipeline conveying monitoring device |
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