CN114355969B - Intelligent heat supply pipe network leakage detection method and system by using unmanned aerial vehicle inspection - Google Patents
Intelligent heat supply pipe network leakage detection method and system by using unmanned aerial vehicle inspection Download PDFInfo
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Abstract
The embodiment of the invention provides an intelligent heating pipe network leakage detection method and system by utilizing unmanned aerial vehicle inspection, which replaces manual work by unmanned aerial vehicle inspection, has high working efficiency and short time consumption, is not limited by traffic, can quickly reach a site for inspection, can evaluate dangerous situations in time, is provided with a thermal camera on an unmanned aerial vehicle, automatically identifies the abnormal environment temperature of the pipe network leakage by utilizing the thermal camera carried by the unmanned aerial vehicle, and identifies leakage points by the environment temperature recorded by the thermal camera, so that leakage detection inspection records are informationized, digitized and can trace data; the unmanned aerial vehicle alarms and coordinates fixed points and uploads the abnormal point of the environmental temperature of the pipe network, so that the problems that in the prior art, when a heat supply pipe network is manually inspected, the fault inspection accuracy is low, the time consumption is long due to limited traffic, dangerous situation evaluation is not timely, information fragmentation of detection conclusion is caused, and the personal safety of inspection staff cannot be guaranteed are solved.
Description
Technical Field
The embodiment of the invention relates to the technical field of heat supply pipeline detection, in particular to an intelligent heat supply pipe network leakage detection method and system by using unmanned aerial vehicle inspection.
Background
The city central heating network is a pipeline system for conveying and distributing heat supply medium from central heat supply source to users. In the pipeline connection process, systematic errors are unavoidable, the expansion joint is used as a compensator to better compensate installation errors, but the expansion joint is a part which is easy to leak in a heat supply network due to the effect of expansion caused by heat and contraction caused by cold. Once leaked, this will result in a large area of heating leakage.
At present, most of underground heat supply pipe networks are aged, because the environment of the heat supply pipe networks is complex, system faults cannot be directly observed and positioned, a large number of inspection personnel are required to inspect the heat supply pipe networks one by one, time and labor are consumed, however, inspection results are greatly influenced by the subjectivity of the inspection personnel, namely the technical level of the inspection personnel, the inspection quality is greatly influenced, correct evaluation of the working condition of the heat supply pipe networks and accurate fault identification cannot be guaranteed, the actual condition of the heat supply pipe networks cannot be accurately reflected by the inspection results, and therefore the heat supply pipe network fault inspection accuracy is low; the heat supply pipe network uses a heat source enterprise as a central point, and a main pipe and branch pipes are laid in different directions, and the length of the pipe network reaches tens of kilometers. The manual inspection is used, the workload is large, and the efficiency is low. And the pipe network is generally far away from the highway, so that manual inspection traffic is limited, and the time consumption is long. If a dangerous situation happens, the device can not reach the site quickly for inspection, and the dangerous situation evaluation is not timely. The inspection record lacks a numerical and informationized management means, and even if a field video exists, the defect of fragmentation of information exists. Because the internal environment of the heat supply pipe network aged for a long time is unknown, personnel safety and accidents cannot be guaranteed when inspection personnel inspect the heat supply pipe network.
Disclosure of Invention
The embodiment of the invention provides an intelligent heat supply pipe network leakage detection method and system by utilizing unmanned aerial vehicle inspection, which are used for solving the problems that in the prior art, when an artificial inspection heat supply pipe network is used, the fault inspection accuracy is low, the time consumption is long due to traffic limitation, dangerous situation evaluation is not timely, detection conclusion information fragmentation is caused, and the personal safety of inspection personnel cannot be ensured.
In a first aspect, an embodiment of the present invention provides a hyperspectral data analysis method based on a block smoothing neural network, including:
s1, setting a patrol track by taking a heat transmission line of a heat supply pipe network as a patrol area;
s2, the unmanned aerial vehicle executes inspection flight according to the inspection track, and a heat supply pipe video in the inspection track is collected based on a thermal camera installed on the unmanned aerial vehicle, wherein each video frame in the heat supply pipe video records a camera position and a camera gesture;
And S3, determining an environment temperature abnormal point based on the heating pipe video, and extracting a video frame signal at the temperature abnormal point so as to identify and alarm a leakage point.
Preferably, the step S1 further includes:
and carrying out geographic position identification on the conventional drain port of the heat supply network on the inspection track.
Preferably, the step S3 specifically includes:
Extracting one video frame in the heat supply pipe video as a key frame at each interval preset time, acquiring a camera position and a camera posture corresponding to the key frame, and determining a first average ambient temperature of the key frame;
Determining a second average temperature and frame coordinates of a region with the highest temperature in the key frame; determining a high-temperature region coordinate corresponding to the region with the highest temperature based on the camera position, the camera gesture and the frame coordinate;
If the high-temperature region coordinate is judged to be located in the inspection area and the difference between the second average ambient temperature and the first average ambient temperature is within a preset threshold value, the high-temperature region coordinate is taken as an ambient temperature abnormal point;
And setting a loop check point based on the environment temperature abnormal point, and inserting the loop check point into the inspection track to execute a loop flight task on the environment temperature abnormal point.
Preferably, in the step S3, the coordinates of the high temperature area are taken as the abnormal points of the environmental temperature, which specifically includes:
Judging whether the geographical positions of the environment temperature abnormal point and the conventional drain port are coincident, if so, not taking the high-temperature region coordinate as the environment temperature abnormal point, and if not, taking the high-temperature region coordinate as the environment temperature abnormal point.
Preferably, the method further comprises:
And S4, determining the environment temperature of the inspection area in the key frame, constructing a pipe network thermodynamic diagram, and identifying an environment temperature abnormal point.
Preferably, the method further comprises:
And S5, performing unmanned aerial vehicle flight control connection pipe on the abnormal point of the environmental temperature, and performing field detection on the abnormal point of the environmental temperature.
In a second aspect, an embodiment of the present invention provides an intelligent heating pipe network leak detection system using unmanned aerial vehicle inspection, including:
the track module is used for setting a patrol track by taking a heat transmission line of the heat supply pipe network as a patrol zone;
The inspection module comprises an unmanned aerial vehicle and a thermal camera, wherein the unmanned aerial vehicle executes inspection flight according to the inspection track, and the thermal camera installed on the unmanned aerial vehicle is used for collecting a heat supply pipe video in the inspection track, wherein each video frame in the heat supply pipe video is recorded with a camera position and a camera gesture;
And the monitoring management module is used for determining an environment temperature abnormal point based on the heat supply pipe video, and extracting a video frame signal at the temperature abnormal point so as to identify and alarm a leakage point.
Preferably, the track module is further configured to perform geographic location identification on a conventional drain port of the heating network on the inspection track.
Preferably, the monitoring management module is specifically configured to extract, at each interval, a video frame in the heat supply pipe video as a key frame, obtain a camera position and a camera pose corresponding to the key frame, and determine a first average ambient temperature of the key frame;
Determining a second average temperature and frame coordinates of a region with the highest temperature in the key frame; determining a high-temperature region coordinate corresponding to the region with the highest temperature based on the camera position, the camera gesture and the frame coordinate;
If the high-temperature region coordinate is judged to be located in the inspection area and the difference between the second average ambient temperature and the first average ambient temperature is within a preset threshold value, the high-temperature region coordinate is not coincident with the geographic position of the conventional drain port, and the high-temperature region coordinate is taken as an ambient temperature abnormal point;
And setting a loop check point based on the environment temperature abnormal point, and inserting the loop check point into the inspection track to execute a loop flight task on the environment temperature abnormal point.
Preferably, the monitoring management module is further configured to determine an ambient temperature of the inspection area in the key frame, construct a pipe network thermodynamic diagram, and perform ambient temperature anomaly point identification.
According to the intelligent heat supply pipe network leakage detection method and system using unmanned aerial vehicle inspection, manual work is replaced by unmanned aerial vehicle inspection, the working efficiency is high, the time consumption is short, the inspection can be quickly achieved on site without traffic limitation, dangerous situations can be timely evaluated, a thermal camera is installed on the unmanned aerial vehicle, the environmental temperature abnormality of the pipe network caused by leakage is automatically identified by using the thermal camera carried by the unmanned aerial vehicle, and leakage points are identified by using the environmental temperature recorded by the thermal camera, so that leakage detection inspection records are informationized, numerically and traceable; the unmanned aerial vehicle alarms and coordinates fixed points and uploads the abnormal point of the environmental temperature of the pipe network, so that the problems that in the prior art, when a heat supply pipe network is manually inspected, the fault inspection accuracy is low, the time consumption is long due to limited traffic, dangerous situation evaluation is not timely, information fragmentation of detection conclusion is caused, and the personal safety of inspection staff cannot be guaranteed are solved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart diagram of an intelligent heating network leak detection method using unmanned aerial vehicle inspection provided by an embodiment of the invention;
fig. 2 is an application scenario diagram provided in an embodiment of the present invention;
fig. 3 is a schematic diagram of a leak detection function of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a logical relationship provided by an embodiment of the present invention;
fig. 5 is a schematic diagram of a monitoring algorithm according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The existing radial distributed central heating pipe network is complicated in environment (such as excavation, collapse and collision) due to technology lag, pipe network aging and steam leakage frequently occurs. The heating medium is high-temperature and high-pressure steam, and if leakage occurs, safety accidents are likely to occur. In the prior art, a patrol inspector patrol along a laid pipeline, judges leakage points through steam fog, leakage impact sound and position and records and reports. The heat supply pipe network uses a heat source enterprise as a central point, and a main pipe and branch pipes are laid in different directions, and the length of the pipe network reaches tens of kilometers. The manual inspection is used, the workload is large, and the efficiency is low. The pipe network is generally far away from the highway, the manual inspection traffic is limited, and the time consumption is long. If a dangerous situation happens, the device can not reach the site quickly for inspection, and the dangerous situation evaluation is not timely. The inspection record lacks a numerical and informationized management means, and even if a field video exists, the defect of fragmentation of information exists.
Therefore, the embodiment of the invention provides an intelligent heat supply pipe network leakage detection method and system by utilizing unmanned aerial vehicle inspection, which are used for solving the problems that in the prior art, when an artificial inspection heat supply pipe network is used, the fault inspection accuracy is low, the time consumption is long due to traffic limitation, dangerous situation evaluation is not timely, the information of detection conclusion is fragmented, and the personal safety of inspection personnel cannot be ensured. The following description and description will be made with reference to various embodiments.
Fig. 1 is a flow chart of an intelligent heat supply pipe network leak detection method using unmanned aerial vehicle inspection according to an embodiment of the present invention, and referring to fig. 1, the method includes, but is not limited to, the following steps:
s1, setting a patrol track by taking a heat transmission line of a heat supply pipe network as a patrol area; and carrying out geographic position identification on the conventional drain port of the heat supply network on the inspection track.
S2, the unmanned aerial vehicle executes inspection flight according to the inspection track, and a heat supply pipe video in the inspection track is collected based on a thermal camera installed on the unmanned aerial vehicle, wherein each video frame in the heat supply pipe video records a camera position and a camera gesture; the collected heat supply pipe video can be stored in a video library, and the video library stores video signals according to a certain period, so that the historical video playback is realized, and the abnormal point identification is carried out again.
And S3, determining an environment temperature abnormal point based on the heating pipe video, and extracting a video frame signal at the temperature abnormal point so as to identify and alarm a leakage point.
Fig. 2 is an application scenario diagram provided in an embodiment of the present invention; fig. 3 is a schematic diagram of a leak detection function of an unmanned aerial vehicle according to an embodiment of the present invention; FIG. 4 is a schematic diagram of a logical relationship provided by an embodiment of the present invention; fig. 5 is a schematic diagram of a monitoring algorithm provided in an embodiment of the present invention, as shown in fig. 2, fig. 4, and fig. 5, step S3 specifically includes: extracting one video frame in the heat supply pipe video as a key frame at each interval preset time, acquiring a camera position (x 1, y1, z 1) and a camera posture (posture angle P) corresponding to the key frame, and determining a first average ambient temperature Ta of the key frame;
Determining a second average temperature Tg and frame coordinates (x, y) of a region of highest temperature in the key frame; determining a high-temperature region coordinate corresponding to the region with the highest temperature based on the camera position, the camera gesture and the frame coordinate; calculating the position (x 2, y 2) of the high temperature region of the key frame from x1, y1, z1, x, y and P; ta, tg, x1, y1, z1, P, x, y2 and the current time T are stored in a patrol library;
If the high-temperature region coordinate is judged to be located in the inspection area, and the difference between the second average ambient temperature and the first average ambient temperature is within a preset threshold value, judging whether the geographical positions of the ambient temperature abnormal point and the conventional drain port are coincident, if so, not taking the high-temperature region coordinate as the ambient temperature abnormal point, and if not, taking the high-temperature region coordinate as the ambient temperature abnormal point.
And setting a loop check point based on the environment temperature abnormal point, and inserting the loop check point into the inspection track to execute a loop flight task on the environment temperature abnormal point. When the ring flies, the position and the gesture of the camera can be adjusted so as to collect the omnibearing information of the abnormal point of the ambient temperature.
Specifically, in this embodiment, the unmanned aerial vehicle is used to carry a thermal network camera, so as to automatically identify the abnormal ambient temperature of the pipe network when leakage occurs. The unmanned aerial vehicle is used for carrying the 4G/5G wireless communication module, so that the real-time remote uploading of video, position signals and alarm information is realized. The unmanned aerial vehicle alarms and coordinates fixed points and uploads the abnormal points of the environmental temperature of the pipe network, and the numerical application of the geographic information of the whole pipe network is realized based on the GIS. And pushing alarm information to set related personnel in real time by using an alarm system. After the inspection is finished, detailed nodes can be formed, inspection records can be played back accurately, and complete life cycle informatization management of full pipe network operation is performed.
And S4, determining the environment temperature of the inspection area in the key frame, constructing a pipe network thermodynamic diagram, and identifying an environment temperature abnormal point.
And S5, performing unmanned aerial vehicle flight control connection pipe on the abnormal point of the environmental temperature, and performing field detection on the abnormal point of the environmental temperature.
The embodiment of the invention also provides an intelligent heat supply pipe network leakage detection system utilizing unmanned aerial vehicle inspection, which comprises the following steps:
the track module is used for setting a patrol track by taking a heat transmission line of the heat supply pipe network as a patrol zone; and carrying out geographic position identification on the conventional drain port of the heat supply network on the inspection track.
The inspection module comprises an unmanned aerial vehicle and a thermal camera, wherein the unmanned aerial vehicle executes inspection flight according to the inspection track, and the thermal camera installed on the unmanned aerial vehicle is used for collecting a heat supply pipe video in the inspection track, wherein each video frame in the heat supply pipe video is recorded with a camera position and a camera gesture; the collected heat supply pipe video can be stored in a video library, and the video library stores video signals according to a certain period, so that the historical video playback is realized, and the abnormal point identification is carried out again.
And the monitoring management module is used for determining an environment temperature abnormal point based on the heat supply pipe video, and extracting a video frame signal at the temperature abnormal point so as to identify and alarm a leakage point.
Specifically, as shown in fig. 2, 3 and 4, the monitoring management module extracts one video frame in the heat supply pipe video as a key frame every interval preset time, acquires a camera position (x 1, y1, z 1) and a camera posture (posture angle P) corresponding to the key frame, and determines a first average ambient temperature Ta of the key frame;
Determining a second average temperature Tg and frame coordinates (x, y) of a region of highest temperature in the key frame; determining a high-temperature region coordinate corresponding to the region with the highest temperature based on the camera position, the camera gesture and the frame coordinate; calculating the position (x 2, y 2) of the high temperature region of the key frame from x1, y1, z1, x, y and P; ta, tg, x1, y1, z1, P, x, y2 and the current time T are stored in a patrol library;
If the high-temperature region coordinate is judged to be located in the inspection area, and the difference between the second average ambient temperature and the first average ambient temperature is within a preset threshold value, judging whether the geographical positions of the ambient temperature abnormal point and the conventional drain port are coincident, if so, not taking the high-temperature region coordinate as the ambient temperature abnormal point, and if not, taking the high-temperature region coordinate as the ambient temperature abnormal point.
And setting a loop check point based on the environment temperature abnormal point, and inserting the loop check point into the inspection track to execute a loop flight task on the environment temperature abnormal point. When the ring flies, the position and the gesture of the camera can be adjusted so as to collect the omnibearing information of the abnormal point of the ambient temperature.
Specifically, in this embodiment, the unmanned aerial vehicle is used to carry a thermal network camera, so as to automatically identify the abnormal ambient temperature of the pipe network when leakage occurs. The unmanned aerial vehicle is used for carrying the 4G/5G wireless communication module, so that the real-time remote uploading of video, position signals and alarm information is realized. The unmanned aerial vehicle alarms and coordinates fixed points and uploads the abnormal point of the environmental temperature of the pipe network. And pushing alarm information to set related personnel in real time by using an alarm system. After the inspection is finished, detailed nodes can be formed, inspection records can be played back accurately, and complete life cycle informatization management of full pipe network operation is performed.
The monitoring management module is also used for determining the environment temperature of the inspection area in the key frame, constructing a pipe network thermodynamic diagram and carrying out environment temperature abnormal point identification.
In summary, according to the intelligent heat supply pipe network leakage detection method and system using unmanned aerial vehicle inspection, manual work is replaced by unmanned aerial vehicle inspection, the working efficiency is high, the time consumption is short, the inspection can be quickly achieved without traffic restrictions, dangerous situations can be evaluated in time, a thermal camera is mounted on the unmanned aerial vehicle, the environmental temperature abnormality of pipe network leakage is automatically identified by using the thermal camera mounted on the unmanned aerial vehicle, and leakage points are identified by using the environmental temperature recorded by the thermal camera, so that leakage detection inspection records are informationized, numerically and traceable; the unmanned aerial vehicle alarms and coordinates fixed points and uploads the abnormal point of the environmental temperature of the pipe network, so that the problems that in the prior art, when a heat supply pipe network is manually inspected, the fault inspection accuracy is low, the time consumption is long due to limited traffic, dangerous situation evaluation is not timely, information fragmentation of detection conclusion is caused, and the personal safety of inspection staff cannot be guaranteed are solved.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (5)
1. An intelligent heating pipe network leakage detection method utilizing unmanned aerial vehicle inspection is characterized by comprising the following steps: s1, setting a patrol track by taking a heat transmission line of a heat supply pipe network as a patrol area; s2, the unmanned aerial vehicle executes inspection flight according to the inspection track, and a heat supply pipe video in the inspection track is collected based on a thermal camera installed on the unmanned aerial vehicle, wherein each video frame in the heat supply pipe video records a camera position and a camera gesture; s3, determining an environment temperature abnormal point based on the heating pipe video, and extracting a video frame signal at the temperature abnormal point to identify and alarm a leakage point; the step S1 further includes: carrying out geographic position identification on a conventional drain port of a heat supply pipe network on the patrol track; the step S3 specifically includes: extracting one video frame in the heat supply pipe video as a key frame at each interval preset time, acquiring a camera position and a camera posture corresponding to the key frame, and determining a first average ambient temperature of the key frame; determining a second average temperature and frame coordinates of a region with the highest temperature in the key frame; determining a high-temperature region coordinate corresponding to the region with the highest temperature based on the camera position, the camera gesture and the frame coordinate; if the high-temperature region coordinate is judged to be located in the inspection area and the difference between the second average ambient temperature and the first average ambient temperature is within a preset threshold value, the high-temperature region coordinate is taken as an ambient temperature abnormal point; setting a ring check point based on the environment temperature abnormal point, and inserting the ring check point into the inspection track to execute a ring flight task on the environment temperature abnormal point; in the step S3, the coordinates of the high temperature area are taken as the abnormal points of the ambient temperature, which specifically includes: judging whether the geographical positions of the environment temperature abnormal point and the conventional drain port are coincident, if so, not taking the high-temperature region coordinate as the environment temperature abnormal point, and if not, taking the high-temperature region coordinate as the environment temperature abnormal point.
2. The intelligent heating network leak detection method using unmanned aerial vehicle inspection according to claim 1, further comprising: and S4, determining the environment temperature of the inspection area in the key frame, constructing a pipe network thermodynamic diagram, and identifying an environment temperature abnormal point.
3. The intelligent heating network leak detection method using unmanned aerial vehicle inspection according to claim 2, further comprising: and S5, performing unmanned aerial vehicle flight control connection pipe on the abnormal point of the environmental temperature, and performing field detection on the abnormal point of the environmental temperature.
4. Utilize intelligent heating network leak hunting system of unmanned aerial vehicle inspection, its characterized in that includes: the track module is used for setting a patrol track by taking a heat transmission line of the heat supply pipe network as a patrol zone; the inspection module comprises an unmanned aerial vehicle and a thermal camera, wherein the unmanned aerial vehicle executes inspection flight according to the inspection track, and the thermal camera installed on the unmanned aerial vehicle is used for collecting a heat supply pipe video in the inspection track, wherein each video frame in the heat supply pipe video is recorded with a camera position and a camera gesture; the monitoring management module is used for determining an environment temperature abnormal point based on the heating pipe video, extracting a video frame signal at the temperature abnormal point and carrying out leakage point identification and alarm; the track module is also used for carrying out geographic position identification on a conventional drain port of the heat supply pipe network on the inspection track; the monitoring management module is specifically configured to extract one video frame in the heating pipe video as a key frame at each preset interval, obtain a camera position and a camera pose corresponding to the key frame, and determine a first average ambient temperature of the key frame; determining a second average temperature and frame coordinates of a region with the highest temperature in the key frame; determining a high-temperature region coordinate corresponding to the region with the highest temperature based on the camera position, the camera gesture and the frame coordinate; if the high-temperature region coordinate is judged to be located in the inspection area and the difference between the second average ambient temperature and the first average ambient temperature is within a preset threshold value, the high-temperature region coordinate is not coincident with the geographic position of the conventional drain port, and the high-temperature region coordinate is taken as an ambient temperature abnormal point; and setting a loop check point based on the environment temperature abnormal point, and inserting the loop check point into the inspection track to execute a loop flight task on the environment temperature abnormal point.
5. The intelligent heating network leak detection system using unmanned aerial vehicle inspection according to claim 4, wherein the monitoring management module is further configured to determine an ambient temperature of an inspection area in a key frame, construct a network thermodynamic diagram, and perform ambient temperature anomaly point identification.
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