CN114167426A - Underground pipeline measurement and three-dimensional modeling analysis method, device and medium based on unmanned aerial vehicle - Google Patents
Underground pipeline measurement and three-dimensional modeling analysis method, device and medium based on unmanned aerial vehicle Download PDFInfo
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Abstract
The application relates to the field of unmanned aerial vehicles, in particular to an underground pipeline measurement and three-dimensional modeling analysis method, an underground pipeline measurement and three-dimensional modeling analysis device and an underground pipeline measurement and three-dimensional modeling analysis medium based on an unmanned aerial vehicle, which comprise the following steps: acquiring initial pipeline information of the underground pipeline, and determining an ultrasonic wave penetration frequency standard of the underground pipeline based on the initial pipeline information; acquiring current ultrasonic information and determining whether the ultrasonic information meets the ultrasonic penetration frequency standard; if the ultrasonic information meets the requirement, calculating the receiving and sending time difference information of the ultrasonic information, and determining the distance information between the unmanned aerial vehicle and the underground pipeline according to the receiving and sending time difference information; acquiring current position information of the unmanned aerial vehicle, and generating image information of the underground pipeline three-dimensional model by combining the distance information and the position information; and controlling and displaying the image information of the three-dimensional model of the underground pipeline. This application has the effect that improves pipeline measurement's measurement of underground.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to an underground pipeline measurement and three-dimensional modeling analysis method, an underground pipeline measurement and three-dimensional modeling analysis device and an underground pipeline measurement and three-dimensional modeling analysis medium based on an unmanned aerial vehicle.
Background
The underground pipeline is a pipeline and an underground cable buried underground, and mainly comprises: water supply, water drainage, gas, heat, industrial pipelines, power, telecommunication cables, etc.
The underground pipeline survey is a survey work performed for planning, designing, constructing, operating, maintaining and the like of various underground pipelines and their affiliated facilities, and thus the underground pipeline survey is generally classified into a newly built underground pipeline engineering survey and an existing underground pipeline exploration survey. The existing underground pipeline exploration measurement is a measurement work for determining the spatial position and the attribute of the underground pipeline, and aims to find out the attributes of the existing underground pipeline, such as the plane position, the burial depth (or elevation), the trend and the like. Its working nature is a post-event remedy to a lack of completion measurements for an underground pipeline project.
The mainstream measuring instruments for detecting the position of an underground pipeline on the market at present comprise an electromagnetic pipeline detector. The electromagnetic pipeline detector detects metal pipelines, electric/optical cables and some non-metal pipelines with metal mark lines by utilizing the principle of electromagnetic induction, for the non-metal pipelines, a probe with an electromagnetic signal needs to be inserted into the pipelines, and the corresponding positions of the pipelines are determined by determining the positions of the probe. However, the electromagnetic pipeline detector is easily interfered by an electromagnetic field during measurement and cannot comprehensively monitor the underground pipeline, so that the defect of low underground pipeline measurement efficiency exists.
Disclosure of Invention
In order to improve the measurement efficiency of underground pipeline measurement, the application provides an underground pipeline measurement and three-dimensional modeling analysis method, an underground pipeline measurement and three-dimensional modeling analysis device and a medium based on an unmanned aerial vehicle.
In a first aspect, the application provides an underground pipeline measurement and three-dimensional modeling analysis method based on an unmanned aerial vehicle, which adopts the following technical scheme:
acquiring initial pipeline information of the underground pipeline, and determining an ultrasonic wave penetration frequency standard of the underground pipeline based on the initial pipeline information;
acquiring current ultrasonic information and determining whether the ultrasonic information meets the ultrasonic penetration frequency standard;
if the ultrasonic information meets the requirement, calculating the receiving and sending time difference information of the ultrasonic information, and determining the distance information between the unmanned aerial vehicle and the underground pipeline according to the receiving and sending time difference information;
acquiring current position information of the unmanned aerial vehicle, and generating image information of the underground pipeline three-dimensional model by combining the distance information and the position information;
and controlling and displaying the image information of the three-dimensional model of the underground pipeline.
By adopting the technical scheme, when the underground pipeline is measured, a worker calls and inquires the initial pipeline information of the current pipeline, such as the material, the thickness, the size degree and the like of the current underground pipeline, then calculates and acquires the ultrasonic wave penetration frequency standard of the underground pipeline according to the initial pipeline information, adjusts the ultrasonic wave information of the ultrasonic wave detector according to the ultrasonic wave penetration frequency standard so as to ensure that the current ultrasonic wave information meets the ultrasonic wave penetration frequency standard, then calculates the receiving and sending time difference information of the ultrasonic wave information, acquires the distance information between the current unmanned aerial vehicle and the underground pipeline according to the receiving and sending time difference information, finally positions the current position of the unmanned aerial vehicle so as to acquire the current position information of the unmanned aerial vehicle, and generates the three-dimensional model image information of the underground pipeline by processing the position information and the distance information of the unmanned aerial vehicle, and the image information of the three-dimensional model of the underground pipeline is displayed, so that the workers can comprehensively monitor the underground pipeline, and the effect of improving the measurement efficiency of the underground pipeline is achieved.
In another possible implementation manner, the calculating the sending/receiving time difference information of the ultrasonic information includes:
when the trigger signal is detected, acquiring current ultrasonic wave transmitting time information and ultrasonic wave receiving time information reflected by the underground pipelines in the same batch with the ultrasonic wave transmitting time information;
calculating the transmission/reception time difference information of the ultrasonic wave based on the ultrasonic wave transmission time information and the ultrasonic wave reception time information.
Through above-mentioned technical scheme, when current ultrasonic detector is to pipeline transmission ultrasonic wave, record current ultrasonic wave emission time information, when ultrasonic detector received the ultrasonic wave that is reflected back by the pipeline, obtain current ultrasonic wave receipt time information simultaneously, ultrasonic wave receipt time information calculates with ultrasonic wave emission time information and seeks receiving and dispatching time difference information to in the follow-up distance between unmanned aerial vehicle and the pipeline of obtaining according to receiving and dispatching time difference information.
In another possible implementation manner, the calculating the transceiving time difference information of the ultrasonic wave based on the ultrasonic wave transmitting time information and the ultrasonic wave receiving time information further includes:
creating preset receiving and sending time difference range information of the ultrasonic information according to the position information of the unmanned aerial vehicle;
determining whether the current transceiving time difference information meets the preset transceiving time difference range information;
if the position information does not meet the preset condition, marking the position information, and simultaneously controlling alarm equipment to output an alarm signal in a preset mode;
the preset mode comprises at least one of the following modes: sound output mode and light output mode.
By adopting the technical scheme, when the ultrasonic receiving and sending time difference information is obtained, the receiving and sending time difference information is compared and matched with the preset receiving and sending time difference range information, and whether the receiving and sending time difference information meets the preset condition requirement or not is determined. When the receiving and sending time difference information is not satisfied, the underground pipeline is indicated to be lost or damaged, the current position of the unmanned aerial vehicle is positioned and marked, and meanwhile, the alarm device is controlled to respond and output, so that the staff is reminded to maintain the underground pipeline in time.
In another possible implementation manner, the obtaining current location information of the drone then further includes:
analyzing the real-time position information based on the position information of the current unmanned aerial vehicle to obtain real-time height data;
analyzing the ultrasonic information and determining signal transceiving distance data of the ultrasonic information;
determining whether the real-time altitude data exceeds the signal transceiving distance data;
if the height exceeds the preset height, generating height warning information and controlling and displaying the height warning information
Through adopting above-mentioned technical scheme, detect unmanned aerial vehicle position through satellite positioning technology, confirm the current real-time positional information of unmanned aerial vehicle, then calculate the analysis to positional information, acquire unmanned aerial vehicle's real-time altitude data, carry out the analysis to the ultrasonic wave information that ultrasonic detector sent, acquire ultrasonic wave signal receiving and dispatching distance data, confirm whether real-time altitude data surpass signal receiving and dispatching distance data, if surpass, then generate high warning information to warn the staff and reduce unmanned aerial vehicle flying height.
In another possible implementation manner, the method further includes:
detecting real-time electric quantity information of the current unmanned aerial vehicle, analyzing the real-time electric quantity information, and acquiring real-time electric quantity data;
determining whether the real-time electric quantity data exceeds an electric quantity protection threshold of the unmanned aerial vehicle;
if the real-time electric quantity data exceeds the preset value, marking the real-time electric quantity data;
and controlling and displaying the marked real-time electric quantity data.
Through adopting above-mentioned technical scheme, detect unmanned aerial vehicle's electric quantity, confirm unmanned aerial vehicle at the real-time electric quantity information of flight in-process, then carry out calculation analysis to real-time electric quantity information, acquire unmanned aerial vehicle's real-time electric quantity data, confirm whether real-time electric quantity data surpass unmanned aerial vehicle's electric quantity protection threshold value, if surpass, then mark the processing to current unmanned aerial vehicle's real-time electric quantity data, the real-time electric quantity data after the simultaneous control shows the mark, so that warn the staff the current condition that unmanned aerial vehicle electric quantity is not enough.
In another possible implementation manner, the generating image information of the three-dimensional model of the underground pipeline by combining the distance information and the position information further includes:
and denoising the image information of the three-dimensional model of the underground pipeline, and performing image enhancement processing on the denoised image information of the three-dimensional model of the underground pipeline.
By adopting the technical scheme, after the image information of the three-dimensional model of the underground pipeline is produced, because the image of the three-dimensional model of the underground pipeline in reality is often influenced by imaging equipment, external environmental noise and the like in the digitization and transmission processes, the image information needs to be denoised by using a denoising technology, so that the noise in the digital image is reduced, the image information is more accurate, then the image information after denoising is subjected to image enhancement processing, the visual effect of the image information is improved, the image is clearer, and the effect of improving the image recognition degree of the three-dimensional model of the underground pipeline is achieved.
In another possible implementation manner, the method further includes:
the method comprises the steps of obtaining a communication route of a current unmanned aerial vehicle, detecting the communication route, and determining the communication condition of the communication route;
when the communication condition is detected to have signal fluctuation, acquiring a standby communication route, detecting the standby communication route, and determining whether the standby communication condition of the standby communication route meets the current communication requirement;
if yes, switching the communication of the current unmanned aerial vehicle from the communication route to the standby communication route;
if not, generating communication abnormal information, and controlling and displaying the communication abnormal information.
Through adopting above-mentioned technical scheme, when ground staff carries out data communication with aerial unmanned aerial vehicle, unmanned aerial vehicle passes through signal transmitter with information transmission ground transceiver, but along with unmanned aerial vehicle and ground staff's flying distance increase, transmitter in the unmanned aerial vehicle is connected with ground transceiver and appears undulantly to lead to current communication route to appear unusually, consequently set up reserve communication line, switch to reserve communication line when communication line appears unusually, wherein, reserve communication line: the emitter carries out 4G/5G communication with the satellite through the router, the satellite sends the data to the ground after receiving the data, and simultaneously detects the spare communication line to ensure the normal communication of the communication line, if the communication line is abnormal, abnormal communication information is generated, and the abnormal communication information is controlled and displayed.
In a second aspect, the present application provides an underground pipeline measures and three-dimensional modeling analysis device based on unmanned aerial vehicle, adopts following technical scheme:
the utility model provides an underground pipeline measures and three-dimensional modeling analytical equipment based on unmanned aerial vehicle, includes:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring initial pipeline information of the underground pipeline and determining an ultrasonic wave penetration frequency standard of the underground pipeline based on the initial pipeline information;
the second acquisition module is used for acquiring current ultrasonic information and determining whether the ultrasonic information meets the ultrasonic penetration frequency standard;
the first determining module is used for calculating the receiving and sending time difference information of the ultrasonic information when the ultrasonic information meets the requirement, and determining the distance information between the unmanned aerial vehicle and the underground pipeline according to the receiving and sending time difference information;
the generating module is used for acquiring the current position information of the unmanned aerial vehicle and generating the image information of the underground pipeline three-dimensional model by combining the distance information and the position information;
and the first control display module is used for controlling and displaying the image information of the underground pipeline three-dimensional model.
By adopting the technical scheme, when the underground pipeline is measured, a worker calls and inquires the initial pipeline information of the current pipeline, such as the material, the thickness, the size degree and the like of the current underground pipeline, then calculates and acquires the ultrasonic wave penetration frequency standard of the underground pipeline according to the initial pipeline information, adjusts the ultrasonic wave information of the ultrasonic wave detector according to the ultrasonic wave penetration frequency standard so as to ensure that the current ultrasonic wave information meets the ultrasonic wave penetration frequency standard, then calculates the receiving and sending time difference information of the ultrasonic wave information, acquires the distance information between the current unmanned aerial vehicle and the underground pipeline according to the receiving and sending time difference information, finally positions the current position of the unmanned aerial vehicle so as to acquire the current position information of the unmanned aerial vehicle, and generates the three-dimensional model image information of the underground pipeline by processing the position information and the distance information of the unmanned aerial vehicle, and the image information of the three-dimensional model of the underground pipeline is displayed, so that the workers can comprehensively monitor the underground pipeline, and the effect of improving the measurement efficiency of the underground pipeline is achieved.
In a possible implementation manner, the first determining module, when calculating the transceiving time difference information of the ultrasonic information, is specifically configured to:
when the trigger signal is detected, acquiring current ultrasonic wave transmitting time information and ultrasonic wave receiving time information reflected by the underground pipelines in the same batch with the ultrasonic wave transmitting time information;
calculating the transmission/reception time difference information of the ultrasonic wave based on the ultrasonic wave transmission time information and the ultrasonic wave reception time information.
In another possible implementation manner, the apparatus further includes: a creating module, a second determining module and an annotation alarm module, wherein,
the creating module is used for creating preset receiving and sending time difference range information of the ultrasonic information according to the position information of the unmanned aerial vehicle;
the second determining module is configured to determine whether the current transceiving time difference information satisfies the preset transceiving time difference range information;
the marking alarm module is used for marking the position information when the position information does not meet the requirement, and simultaneously controlling the alarm equipment to output an alarm signal in a preset mode;
the preset mode comprises at least one of the following modes: sound output mode and light output mode.
In another possible implementation manner, the apparatus further includes: a third obtaining module, a third determining module, a fourth determining module and an alarming module, wherein,
the third acquisition module is used for analyzing the real-time position information based on the position information of the current unmanned aerial vehicle and acquiring real-time height data;
the third determining module is configured to analyze the ultrasonic information and determine signal transceiving distance data of the ultrasonic information;
the fourth determining module is configured to determine whether the real-time altitude data exceeds the signal transceiving distance data;
and the warning module is used for generating height warning information when the height of the vehicle exceeds the preset height, and controlling and displaying the height warning information.
In another possible implementation manner, the apparatus further includes: a fourth obtaining module, a fifth determining module, a labeling module and a second control display module, wherein,
the fourth acquisition module is used for detecting the real-time electric quantity information of the current unmanned aerial vehicle, analyzing the real-time electric quantity information and acquiring real-time electric quantity data;
the fifth determining module is configured to determine whether the real-time electric quantity data exceeds an electric quantity protection threshold of the unmanned aerial vehicle;
the marking module is used for marking the real-time electric quantity data when the real-time electric quantity data exceeds the preset value;
and the second control display module is used for controlling and displaying the marked real-time electric quantity data.
In another possible implementation manner, the apparatus further includes: an image enhancement module, wherein,
and denoising the image information of the three-dimensional model of the underground pipeline, and performing image enhancement processing on the denoised image information of the three-dimensional model of the underground pipeline.
In another possible implementation manner, the apparatus further includes: a sixth determining module, a seventh determining module, a switching module, and a third control display module, wherein,
the sixth determining module is configured to obtain a communication route of the current unmanned aerial vehicle, detect the communication route, and determine a communication status of the communication route;
the seventh determining module is configured to, when it is detected that the communication condition has signal fluctuation, acquire a backup communication route, detect the backup communication route, and determine whether a backup communication condition of the backup communication route meets a current communication requirement;
the switching module is used for switching the communication of the current unmanned aerial vehicle from the communication route to the standby communication route when the communication is satisfied;
and the third control display module is used for generating communication abnormal information and controlling and displaying the communication abnormal information when the communication abnormal information is not satisfied. In a third aspect, the present application provides an electronic device, which adopts the following technical solutions:
in a third aspect, an electronic device includes:
one or more processors;
a memory;
one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: the method for measuring and three-dimensional modeling analysis of the underground pipeline based on the unmanned aerial vehicle is implemented according to any one of the possible implementation manners of the first aspect.
In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solutions:
a computer-readable storage medium, comprising: a computer program is stored which can be loaded by a processor and used for executing the method for measuring and analyzing the three-dimensional modeling of the underground pipeline based on the unmanned aerial vehicle, which is shown in any one of the possible implementation manners of the first aspect.
In summary, the present application includes at least one of the following beneficial technical effects:
1. when measuring the underground pipeline, a worker calls and inquires the initial pipeline information of the current pipeline, such as the material, thickness, size and the like of the current underground pipeline, then calculates and acquires the ultrasonic penetration frequency standard of the underground pipeline according to the initial pipeline information, the worker adjusts the ultrasonic information of the ultrasonic detector according to the ultrasonic penetration frequency standard to determine that the current ultrasonic information meets the ultrasonic penetration frequency standard, then calculates the receiving and transmitting time difference information of the ultrasonic information, acquires the distance information between the current unmanned aerial vehicle and the underground pipeline according to the receiving and transmitting time difference information, and finally positions the current position of the unmanned aerial vehicle to acquire the position information of the current unmanned aerial vehicle, generates the three-dimensional model image information of the underground pipeline by processing the position information and the distance information of the unmanned aerial vehicle, and displays the three-dimensional model image information of the underground pipeline, the underground pipeline is monitored comprehensively by workers, so that the effect of improving the underground pipeline measurement efficiency is achieved;
2. and when the ultrasonic receiving and sending time difference information is obtained, comparing and matching the receiving and sending time difference information with the preset receiving and sending time difference range information, and determining whether the receiving and sending time difference information meets the preset condition requirement. When the receiving and sending time difference information is not satisfied, the underground pipeline is indicated to be lost or damaged, the current position of the unmanned aerial vehicle is positioned and marked, and meanwhile, the alarm device is controlled to respond and output, so that the staff is reminded to maintain the underground pipeline in time.
Drawings
Fig. 1 is a schematic flow chart of an underground pipeline measurement and three-dimensional modeling analysis method based on an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an underground pipeline measurement and three-dimensional modeling analysis device based on an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to figures 1-3.
A person skilled in the art, after reading the present description, may make modifications to the embodiments as required, without any inventive contribution thereto, but shall be protected by the patent laws within the scope of the claims of the present application.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship, unless otherwise specified.
The embodiments of the present application will be described in further detail with reference to the drawings attached hereto.
The embodiment of the application provides an underground pipeline measurement and three-dimensional modeling analysis method based on an unmanned aerial vehicle, which is executed by electronic equipment, wherein the electronic equipment can be a server or terminal equipment, the server can be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, and a cloud server for providing cloud computing service. The terminal device may be a smart phone, a tablet computer, a notebook computer, a desktop computer, and the like, but is not limited thereto, the terminal device and the server may be directly or indirectly connected through a wired or wireless communication manner, and an embodiment of the present application is not limited thereto, as shown in fig. 1, the method includes:
and step S10, acquiring initial pipeline information of the underground pipeline, and determining an ultrasonic wave penetration frequency standard of the underground pipeline based on the initial pipeline information.
The initial pipeline information of the underground pipeline includes underground pipeline use information (water supply, drainage, gas, heat, power, communication, and the like), material information (carbon steel pipe, stainless steel pipe, and the like), cross section information, thickness information, and the like.
Specifically, the ultrasonic probe (the embodiment of the present invention is described using the instrument, but is not limited to the instrument) is a device that detects using ultrasonic waves (20000 Hz or more) that are not audible to human ears as a detection source, and the ultrasonic probe measures a measured distance by using ultrasonic emission and reflection of a measured object and a time difference after echo reception, and is a non-contact measuring instrument. The staff obtains the penetration frequency information of the underground pipeline through the initial pipeline information of the underground pipeline, for example, the current ultrasonic penetration frequency of the underground pipeline is 2000 Hz, and the current ultrasonic penetration frequency is customized to the ultrasonic penetration frequency standard.
Step S11, acquiring current ultrasonic information, and determining whether the ultrasonic information satisfies an ultrasonic wave penetration frequency criterion.
Specifically, the ultrasonic frequency information of the current ultrasonic probe is checked to determine whether the ultrasonic frequency of the current ultrasonic probe is smaller than the ultrasonic penetration frequency standard.
And step S12, if yes, calculating the receiving and sending time difference information of the ultrasonic information, and determining the distance information between the unmanned aerial vehicle and the underground pipeline according to the receiving and sending time difference information.
Specifically, the ultrasonic frequency of the current ultrasonic detector is 1500 hertz, the ultrasonic penetration frequency of the underground pipeline is 2000 hertz, the current ultrasonic frequency meets the current ultrasonic penetration frequency standard, the ultrasonic transmitter transmits ultrasonic waves to a certain direction, timing is started at the same time of the transmission moment, the ultrasonic waves are transmitted in the air, the ultrasonic waves return immediately when encountering an obstacle in the process, and the ultrasonic receiver stops timing immediately when receiving reflected waves. The propagation speed of the ultrasonic wave in the air is 340m/s, and the distance(s) of the transmitting point from the obstacle can be calculated according to the time t recorded by the timer, namely: s =340 t/2.
And step S13, acquiring the current position information of the unmanned aerial vehicle, and generating the image information of the underground pipeline three-dimensional model by combining the distance information and the position information.
Specifically, when the position of the unmanned aerial vehicle is confirmed, firstly, a GPS is installed on the unmanned aerial vehicle, a positioning base signal covers the flying area of the unmanned aerial vehicle, then a UWBLOC label is installed on the unmanned aerial vehicle, the position information of the unmanned aerial vehicle containing the label is detected through a satellite, the flying height information of the current unmanned aerial vehicle is obtained, a 2D plane graph is manufactured by using CAD according to the distance information and the image in the position information, the concepts of points, lines and surfaces are taken as the main concepts in the graph, then, parameters in the 2D plane graph are stretched and stereoscopically by means of ArcGIS and Revit software, a 3D visual model is built, high-precision fitting of the ground and an underground pipeline is realized through point cloud data, the shape of the underground pipeline is extracted, optimization of the model boundary and modification of the model details are realized through the shape data, and the three-dimensional model of the underground pipeline is manufactured.
And step S14, controlling and displaying the image information of the three-dimensional model of the underground pipeline.
Specifically, image information of the three-dimensional model of the underground pipeline is acquired through a control layer (controller), a service layer (service) and a data access layer (dao), the data access layer is only responsible for data interaction with a database and performs reading operation on data, the service layer needs to compile logic codes according to actual service requirements of the system, the service logic layer calls related methods of the data access layer to achieve interaction with the database and feeds execution results back to the control layer, the control layer sends position information to a view renderer, view rendering is performed on return route information, and the image information of the three-dimensional model of the underground pipeline is displayed back.
In the embodiment of the application, when measuring the underground pipeline, a worker calls and inquires the initial pipeline information of the current pipeline, such as the material, thickness, size and the like of the current underground pipeline, then calculates and obtains the ultrasonic wave penetration frequency standard of the underground pipeline according to the initial pipeline information, the worker adjusts the ultrasonic wave information of the ultrasonic wave detector according to the ultrasonic wave penetration frequency standard to ensure that the current ultrasonic wave information meets the ultrasonic wave penetration frequency standard, then calculates the receiving and sending time difference information of the ultrasonic wave information, obtains the distance information between the current unmanned aerial vehicle and the underground pipeline according to the receiving and sending time difference information, finally positions the current position of the unmanned aerial vehicle to obtain the position information of the current unmanned aerial vehicle, and generates the three-dimensional model image information of the underground pipeline by processing the position information and the distance information of the unmanned aerial vehicle, and the image information of the three-dimensional model of the underground pipeline is displayed, so that the workers can comprehensively monitor the underground pipeline, and the effect of improving the measurement efficiency of the underground pipeline is achieved.
In a possible implementation manner of the embodiment of the present application, the step S12 specifically includes a step S121 (not shown in the figure) and a step S122 (not shown in the figure), wherein,
step S121, after the trigger signal is detected, acquiring the current ultrasonic wave transmitting time information and the ultrasonic wave receiving time information reflected by the underground pipelines in the same batch with the ultrasonic wave transmitting time information.
Step S122, calculating the transmission/reception time difference information of the ultrasonic wave based on the ultrasonic wave transmission time information and the ultrasonic wave reception time information.
In a possible implementation manner of the embodiment of the present application, the step S122 further includes a step S123 (not shown), a step S124 (not shown), and a step S125 (not shown), wherein,
and S123, creating preset receiving and sending time difference range information of the ultrasonic information according to the position information of the unmanned aerial vehicle.
Specifically, average transceiving time difference range information of the ultrasonic detector during ultrasonic detection of the underground pipeline is detected, and the average transceiving time difference range information is determined as preset transceiving time difference range information.
Step S124, determining whether the current transceiving time difference information satisfies the preset transceiving time difference range information.
Specifically, when the underground pipeline is lost or damaged, the time difference in the sending and receiving time difference signal of the ultrasonic detector to the underground pipeline is increased, so that the sending and receiving time difference information does not meet the preset sending and receiving time difference range information.
Step S125, if the condition is not met, marking the position information, and simultaneously controlling the alarm equipment to output an alarm signal in a preset mode;
wherein the preset mode comprises at least one of the following modes: sound output mode and light output mode.
Specifically, when finding that the current transceiving time difference information does not meet the preset transceiving time difference range information, the electronic device transmits a control signal to the alarm device to control the alarm device to send out an alarm signal in a sound mode and a light output mode.
For example, the means for audibly signaling an alarm signal includes: buzzer, bell, whistle and steam whistle etc. send alarm signal's device through light output mode includes: breathing lights, flashing lights, engineering warning lights, and the like. .
In a possible implementation manner of the embodiment of the present application, step S13 further includes step S131 (not shown), step S132 (not shown), step S133 (not shown), and step S134 (not shown), wherein,
and S131, analyzing the real-time position information based on the current position information of the unmanned aerial vehicle, and acquiring real-time height data.
Specifically, according to unmanned aerial vehicle position information obtained by a satellite, longitude and latitude data of the current unmanned aerial vehicle are screened out, and real-time height data of the current unmanned aerial vehicle are obtained through calculation.
Step S132 is to analyze the ultrasonic information and determine signal transmission/reception distance data of the ultrasonic information.
Specifically, the principle of ultrasonic ranging is that the propagation speed of ultrasonic waves in the air is known, the time of the sound waves reflected back when encountering an obstacle after being transmitted is measured, and the actual distance from a transmitting point to the obstacle is calculated according to the time difference between transmitting and receiving. It follows that the principles of ultrasonic ranging are the same as those of radar. The formula for ranging is expressed as: l = C × T, wherein L is the measured distance length; c is the propagation speed of the ultrasonic wave in the air; t is the time difference of the measured range propagation (T is half the value of the transmit-to-receive time).
Step S133, determining whether the real-time altitude data exceeds the signal transceiving distance data.
In step S134, if yes, height warning information is generated and display of the height warning information is controlled.
In a possible implementation manner of the embodiment of the present application, the step S14 further includes a step S15 (not shown), a step S16 (not shown), a step S17 (not shown), and a step S18 (not shown), wherein,
and step S15, detecting the real-time electric quantity information of the current unmanned aerial vehicle, analyzing the real-time electric quantity information and acquiring real-time electric quantity data.
Step S16, determining whether the real-time power data exceeds the power protection threshold of the drone.
Specifically, the real-time power data obtained in step S15 is compared with a preset power protection threshold, for example, the power protection threshold of the drone is 20 percent, and when the detected real-time power data is less than 20 percent, the drone is prone to crash.
And step S17, if the current power quantity exceeds the preset value, performing labeling processing on the real-time power quantity data.
Specifically, the obtained real-time electric quantity data which do not meet the electric quantity protection threshold value are subjected to labeling processing. For example: '< span style =' color: red '> { real-time electricity quantity data } </span >'.
And step S18, controlling and displaying the marked real-time electric quantity data.
In a possible implementation manner of the embodiment of the present application, step S13 is followed by step S135 (not shown in the figure), wherein,
and S135, denoising the image information of the three-dimensional model of the underground pipeline, and performing image enhancement on the denoised image information of the three-dimensional model of the underground pipeline.
Specifically, noise can be understood as "a factor that hinders human sense organs from understanding the received source information". For example, if a black and white picture has a planar luminance distribution assumed to be f (x, y), then the luminance distribution R (x, y) interfering with its reception is referred to as image noise. Common image noise is additive noise, multiplicative noise, quantization noise, and "salt and pepper" noise. Additive vocal and image signal intensity are uncorrelated, for example: the television camera of "channel noise" that the picture introduces in the transmission process scans the noise of the picture; the vocal and image signals are correlated and tend to vary with changes in the image signal, such as: voice in flying spot scan images, television scan raster, film grain, etc.; quantization noise is the main noise source of digital images, and the size of the quantization noise shows the difference between the digital image and the original image; "salt and pepper" noise, for example: white spots on a black image, black spot noise on a white image, errors introduced in a transform domain, and transform noise caused by inverse image transformation. .
In a possible implementation manner of the embodiment of the present application, the step S14 includes a step S19 (not shown), a step S20 (not shown), a step S21 (not shown), and a step S22 (not shown), wherein,
step S19, acquiring a communication route of the current drone, detecting the communication route, and determining a communication status of the communication route.
Specifically, when ground staff communicate with an aerial unmanned aerial vehicle, the unmanned aerial vehicle sends information to a specified base station through a signal transmitter, and the information is sent to a ground transceiver through the base station, so that signals sent by the base station are detected to determine the current communication condition.
And step S20, when the signal fluctuation of the communication condition is detected, acquiring a standby communication route, detecting the standby communication route, and determining whether the standby communication condition of the standby communication route meets the current communication requirement.
Specifically, along with unmanned aerial vehicle flying height risees, the transmitter in the unmanned aerial vehicle is connected with the basic station and appears fluctuating to lead to current communication route to appear unusually, consequently set up reserve communication line, switch to reserve communication line when communication line appears unusually, wherein, reserve communication line: the transmitter carries out 4G/5G communication with the satellite through the router, and the satellite sends the data to the ground after receiving the data, detects the spare communication line simultaneously, ensures that the communication line communicates normally.
And step S21, if yes, switching the communication of the current unmanned aerial vehicle from the communication route to the standby communication route.
If not, step S22 generates communication abnormality information and controls display of the communication abnormality information.
The following embodiments describe an underground pipeline measurement and three-dimensional modeling analysis device based on an unmanned aerial vehicle from the perspective of a method flow, and specifically refer to the following embodiments.
The embodiment of the application provides an underground pipeline measures and three-dimensional modeling analysis's device based on unmanned aerial vehicle, as shown in fig. 2, this underground pipeline measures and three-dimensional modeling analysis device based on unmanned aerial vehicle specifically can include: a first obtaining module 21, a second obtaining module 22, a first determining module 23, a generating module 24 and a first control display module 25,
the first acquisition module 21 is used for acquiring initial pipeline information of the underground pipeline and determining an ultrasonic wave penetration frequency standard of the underground pipeline based on the initial pipeline information;
the second obtaining module 22 is configured to obtain current ultrasonic information and determine whether the ultrasonic information meets an ultrasonic penetration frequency standard;
the first determining module 23 is configured to, if the difference is satisfied, calculate transceiving time difference information of the ultrasonic information, and determine distance information between the unmanned aerial vehicle and the underground pipeline according to the transceiving time difference information;
the generating module 24 is configured to obtain current position information of the unmanned aerial vehicle, and generate image information of the three-dimensional model of the underground pipeline by combining the distance information and the position information;
and the first control display module 25 is used for controlling and displaying the image information of the three-dimensional model of the underground pipeline.
In a possible implementation manner of the embodiment of the present application, the first determining module 23 is specifically configured to, when calculating the transceiving time difference information of the ultrasonic information:
when the trigger signal is detected, acquiring current ultrasonic wave transmitting time information and ultrasonic wave receiving time information reflected by the underground pipelines in the same batch with the ultrasonic wave transmitting time information;
and calculating the receiving and sending time difference information of the ultrasonic waves based on the ultrasonic wave transmitting time information and the ultrasonic wave receiving time information.
In another possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: a creating module, a second determining module and an annotation alarm module, wherein,
the creating module is used for creating preset receiving and sending time difference range information of the ultrasonic information according to the position information of the unmanned aerial vehicle;
the second determining module is used for determining whether the current transceiving time difference information meets the preset transceiving time difference range information;
the labeling alarm module is used for labeling the position information when the position information does not meet the requirement, and simultaneously controlling the alarm equipment to output an alarm signal in a preset mode;
the preset mode comprises at least one of the following modes: sound output mode and light output mode.
In another possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: a third obtaining module, a third determining module, a fourth determining module and an alarming module, wherein,
the third acquisition module is used for analyzing the real-time position information based on the current position information of the unmanned aerial vehicle and acquiring real-time height data;
the third determining module is used for analyzing the ultrasonic information and determining signal transceiving distance data of the ultrasonic information;
the fourth determining module is used for determining whether the real-time height data exceeds the signal transceiving distance data;
and the warning module is used for generating height warning information and controlling and displaying the height warning information when the height exceeds the preset height.
In another possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: a fourth obtaining module, a fifth determining module, a labeling module and a second control display module, wherein,
the fourth acquisition module is used for detecting the real-time electric quantity information of the current unmanned aerial vehicle, analyzing the real-time electric quantity information and acquiring real-time electric quantity data;
the fifth determining module is used for determining whether the real-time electric quantity data exceeds an electric quantity protection threshold of the unmanned aerial vehicle;
the marking module is used for marking the real-time electric quantity data when the real-time electric quantity data exceeds the preset value;
and the second control display module is used for controlling and displaying the marked real-time electric quantity data.
In another possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: an image enhancement module, wherein,
and denoising the image information of the three-dimensional model of the underground pipeline, and performing image enhancement on the denoised image information of the three-dimensional model of the underground pipeline.
In another possible implementation manner of the embodiment of the present application, the apparatus 20 further includes: a sixth determining module, a seventh determining module, a switching module, and a third control display module, wherein,
the sixth determining module is used for acquiring a communication route of the current unmanned aerial vehicle, detecting the communication route and determining the communication condition of the communication route;
the seventh determining module is used for acquiring the standby communication route when the communication condition is detected to have signal fluctuation, detecting the standby communication route and determining whether the standby communication condition of the standby communication route meets the current communication requirement;
the switching module is used for switching the communication of the current unmanned aerial vehicle from the communication route to the standby communication route when the communication is satisfied;
and the third control display module is used for generating communication abnormal information and controlling and displaying the communication abnormal information when the communication abnormal information is not satisfied.
Specifically, the first determining module 23, the second determining module, the third determining module, the fourth determining module, the fifth determining module, the sixth determining module and the seventh determining module may all be the same module, or may all be different modules, or may be partially different modules, the first obtaining module 21, the second obtaining module 22, the third obtaining module and the fourth obtaining module may all be the same module, or may all be different modules, or may be partially different modules, the first control display module 25 and the second control display module may all be the same module, or may all be different modules, or may be partially different modules, which is not limited in this embodiment.
In an embodiment of the present application, an electronic device is provided, and as shown in fig. 3, an electronic device 1000 shown in fig. 3 includes: a processor 1001 and a memory 1003. Where the processor 1001 is coupled to the memory 1003, such as via a bus 1002. Optionally, the electronic device 1000 may also include a transceiver 1004. It should be noted that the transceiver 1004 is not limited to one in practical application, and the structure of the electronic device 1000 is not limited to the embodiment of the present application.
The Processor 1001 may be a CPU (Central Processing Unit), a general-purpose Processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other Programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor 1001 may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs and microprocessors, and the like.
The Memory 1003 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory) or other type of dynamic storage device that can store information and instructions, an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), a magnetic Disc storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these.
The memory 1003 is used for storing application program codes for executing the present application, and the processor 1001 controls the execution. The processor 1001 is configured to execute application program codes stored in the memory 1003 to implement the contents shown in the foregoing method embodiments.
Among them, electronic devices include but are not limited to: mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and the like, and fixed terminals such as digital TVs, desktop computers, and the like. But also a server, etc. The electronic device shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
The present application provides a computer-readable storage medium, on which a computer program is stored, which, when running on a computer, enables the computer to execute the corresponding content in the foregoing method embodiments. Compared with the prior art, in the embodiment of the application, when the underground pipeline is measured, the staff calls and inquires the initial pipeline information of the current pipeline, such as the material, the thickness, the size and the like of the current underground pipeline, then calculates and acquires the ultrasonic wave penetration frequency standard of the underground pipeline according to the initial pipeline information, adjusts the ultrasonic wave information of the ultrasonic wave detector according to the ultrasonic wave penetration frequency standard to determine that the current ultrasonic wave information meets the ultrasonic wave penetration frequency standard, then calculates the receiving and transmitting time difference information of the ultrasonic wave information, acquires the distance information between the current unmanned aerial vehicle and the underground pipeline according to the receiving and transmitting time difference information, and finally positions the current position of the unmanned aerial vehicle to acquire the current position information of the unmanned aerial vehicle, and generates the three-dimensional model image information of the underground pipeline by processing the position information and the distance information of the unmanned aerial vehicle, and the image information of the three-dimensional model of the underground pipeline is displayed, so that the workers can comprehensively monitor the underground pipeline, and the effect of improving the measurement efficiency of the underground pipeline is achieved.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.
Claims (10)
1. An underground pipeline measurement and three-dimensional modeling analysis method based on an unmanned aerial vehicle is characterized by comprising the following steps:
acquiring initial pipeline information of the underground pipeline, and determining an ultrasonic wave penetration frequency standard of the underground pipeline based on the initial pipeline information;
acquiring current ultrasonic information and determining whether the ultrasonic information meets the ultrasonic penetration frequency standard;
if the ultrasonic information meets the requirement, calculating the receiving and sending time difference information of the ultrasonic information, and determining the distance information between the unmanned aerial vehicle and the underground pipeline according to the receiving and sending time difference information;
acquiring current position information of the unmanned aerial vehicle, and generating image information of the underground pipeline three-dimensional model by combining the distance information and the position information;
and controlling and displaying the image information of the three-dimensional model of the underground pipeline.
2. The method according to claim 1, wherein said calculating the transmission/reception time difference information of the ultrasonic information includes:
when the trigger signal is detected, acquiring current ultrasonic wave transmitting time information and ultrasonic wave receiving time information reflected by the underground pipelines in the same batch with the ultrasonic wave transmitting time information;
calculating the transmission/reception time difference information of the ultrasonic wave based on the ultrasonic wave transmission time information and the ultrasonic wave reception time information.
3. The method according to claim 2, wherein the transceiving time difference information of the ultrasonic wave is calculated based on the ultrasonic wave transmission time information and the ultrasonic wave reception time information, and thereafter further comprising:
creating preset receiving and sending time difference range information of the ultrasonic information according to the position information of the unmanned aerial vehicle;
determining whether the current transceiving time difference information meets the preset transceiving time difference range information;
if the position information does not meet the preset condition, marking the position information, and simultaneously controlling alarm equipment to output an alarm signal in a preset mode;
the preset mode comprises at least one of the following modes: sound output mode and light output mode.
4. The method of claim 1, wherein obtaining current location information of the drone thereafter further comprises:
analyzing the real-time position information based on the position information of the current unmanned aerial vehicle to obtain real-time height data;
analyzing the ultrasonic information and determining signal transceiving distance data of the ultrasonic information;
determining whether the real-time altitude data exceeds the signal transceiving distance data;
and if so, generating height warning information and controlling and displaying the height warning information.
5. The method according to any one of claims 1-4, further comprising:
detecting real-time electric quantity information of the current unmanned aerial vehicle, analyzing the real-time electric quantity information, and acquiring real-time electric quantity data;
determining whether the real-time electric quantity data exceeds an electric quantity protection threshold of the unmanned aerial vehicle;
if the real-time electric quantity data exceeds the preset value, marking the real-time electric quantity data;
and controlling and displaying the marked real-time electric quantity data.
6. The method of claim 1, wherein generating the image information of the three-dimensional model of the underground pipeline by combining the distance information and the position information further comprises:
and denoising the image information of the three-dimensional model of the underground pipeline, and performing image enhancement processing on the denoised image information of the three-dimensional model of the underground pipeline.
7. The method of claim 1, further comprising:
the method comprises the steps of obtaining a communication route of a current unmanned aerial vehicle, detecting the communication route, and determining the communication condition of the communication route;
when the communication condition is detected to have signal fluctuation, acquiring a standby communication route, detecting the standby communication route, and determining whether the standby communication condition of the standby communication route meets the current communication requirement;
if yes, switching the communication of the current unmanned aerial vehicle from the communication route to the standby communication route;
if not, generating communication abnormal information, and controlling and displaying the communication abnormal information.
8. The utility model provides an underground pipeline measures and three-dimensional modeling analytical equipment based on unmanned aerial vehicle which characterized in that includes:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring initial pipeline information of the underground pipeline and determining an ultrasonic wave penetration frequency standard of the underground pipeline based on the initial pipeline information;
the second acquisition module is used for acquiring current ultrasonic information and determining whether the ultrasonic information meets the ultrasonic penetration frequency standard;
the first determining module is used for calculating the receiving and sending time difference information of the ultrasonic information when the ultrasonic information meets the requirement, and determining the distance information between the unmanned aerial vehicle and the underground pipeline according to the receiving and sending time difference information;
the generating module is used for acquiring the current position information of the unmanned aerial vehicle and generating the image information of the underground pipeline three-dimensional model by combining the distance information and the position information;
and the first control display module is used for controlling and displaying the image information of the underground pipeline three-dimensional model.
9. An electronic device, comprising:
one or more processors;
a memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more programs configured to: the unmanned aerial vehicle-based underground pipeline measurement and three-dimensional modeling analysis method is implemented according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method for unmanned aerial vehicle-based underground pipeline surveying and three-dimensional modeling analysis according to any one of claims 1 to 7.
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