CN114895313A - Detection method and device for pipeline in river channel, electronic equipment and storage medium - Google Patents
Detection method and device for pipeline in river channel, electronic equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/48—Thermography; Techniques using wholly visual means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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- G—PHYSICS
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V9/00—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00
- G01V9/005—Prospecting or detecting by methods not provided for in groups G01V1/00 - G01V8/00 by thermal methods, e.g. after generation of heat by chemical reactions
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- Y02A90/30—Assessment of water resources
Abstract
The embodiment of the invention discloses a method and a device for detecting pipelines in a river channel, electronic equipment and a storage medium. The detection method of the pipeline in the river comprises the following steps: acquiring a pipeline detection request, and determining a river channel detection area according to the pipeline detection request; acquiring a sonar image of a river channel section of a river channel detection area through an underwater travelling device; determining the abnormal position of the river channel according to the sonar image of the river channel section under the condition that the sonar image of the river channel section is abnormal; acquiring a thermal imaging image corresponding to the abnormal position of the river channel through an underwater advancing device; and detecting the pipeline in the river channel detection area according to the thermal imaging image. According to the technical scheme of the embodiment of the invention, the pipeline floating in the river channel can be accurately positioned, so that the pipeline floating in the river channel is protected in time, and the service life of the pipeline is prolonged.
Description
Technical Field
The embodiment of the invention relates to the technical field of communication, in particular to a method and a device for detecting pipelines in a river channel, electronic equipment and a storage medium.
Background
With the rapid development of urban construction, more and more pipelines are buried below and pass through river channels. Due to factors such as navigation of the river channel, the river in the river channel needs to be desilted. However, after dredging, the pipeline buried below and passing through the river may float upwards, resulting in damage to the existing pipeline and shortening of the life of the pipeline.
However, the existing detection method for the pipeline in the river cannot accurately position the pipeline floating in the river, so that the pipeline floating in the river cannot be protected in time, and the service life of the pipeline is shortened.
Disclosure of Invention
The embodiment of the invention provides a method and a device for detecting pipelines in a river channel, electronic equipment and a storage medium, which can accurately position the pipelines floating in the river channel, so that the pipelines floating in the river channel are protected in time, and the service life of the pipelines is prolonged.
According to an aspect of the present invention, there is provided a method for detecting a pipeline in a river, including:
acquiring a pipeline detection request, and determining a river channel detection area according to the pipeline detection request;
acquiring a channel section sonar image of the channel detection area through an underwater travelling device;
under the condition that the river channel cross section sonar image is determined to be abnormal, determining the abnormal position of the river channel according to the river channel cross section sonar image;
acquiring a thermal imaging image corresponding to the river channel abnormal position through an underwater advancing device;
and detecting pipelines in the river channel detection area according to the thermal imaging image.
According to another aspect of the present invention, there is provided a device for detecting an internal pipeline of a river, comprising:
the river channel detection area determining module is used for acquiring a pipeline detection request and determining a river channel detection area according to the pipeline detection request;
the river channel cross section sonar image acquisition module is used for acquiring a river channel cross section sonar image of the river channel detection area through an underwater advancing device;
the river channel abnormal position determining module is used for determining the river channel abnormal position according to the river channel cross section sonar image under the condition that the river channel cross section sonar image is determined to be abnormal;
the thermal imaging image acquisition module is used for acquiring a thermal imaging image corresponding to the river channel abnormal position through an underwater advancing device;
and the pipeline detection module is used for detecting the pipeline in the river channel detection area according to the thermal imaging image.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the method for detecting a pipeline in a river according to any embodiment of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the method for detecting a pipeline in a river according to any one of the embodiments of the present invention when the computer instructions are executed.
According to the technical scheme, the river channel detection area is determined according to the pipeline detection request by obtaining the pipeline detection request, the river channel cross section sonar image of the river channel detection area is obtained through the underwater advancing device, the abnormal position of the river channel is determined according to the river channel cross section sonar image when the abnormal image of the river channel cross section sonar image exists, the thermal imaging image corresponding to the abnormal position of the river channel is obtained through the underwater advancing device, the pipeline in the river channel detection area is detected according to the thermal imaging image, the problems that the pipeline floating in the river channel cannot be protected in time and the service life of the pipeline is shortened due to the fact that the pipeline floating in the river channel cannot be accurately positioned in the existing detection method for the pipeline in the river channel are solved, the pipeline floating in the river channel can be accurately positioned, the pipeline floating in the river channel can be protected in time, and the service life of the pipeline is prolonged.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for detecting an internal pipeline of a river according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for detecting an internal pipeline of a river according to a second embodiment of the present invention;
fig. 3 is a schematic view of a detection device for an internal pipeline of a river according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device for implementing the method for detecting the pipeline in the river according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, 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 invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a method for detecting a pipeline in a river according to an embodiment of the present invention, where this embodiment is applicable to a case where a pipeline floating in a river is accurately positioned, and the method may be executed by a device for detecting a pipeline in a river, where the device may be implemented in a software and/or hardware manner, and may generally be directly integrated in an electronic device for executing the method, where the electronic device may be a terminal device or a server device. Specifically, as shown in fig. 1, the method for detecting an internal pipeline of a river may specifically include the following steps:
s110, acquiring a pipeline detection request, and determining a river channel detection area according to the pipeline detection request.
The pipeline detection request can be a request for detecting a pipeline floating in the river. It is understood that the pipeline floating in the river may be a communication pipeline, a water supply pipeline, a water discharge pipeline, a broadcast television pipeline, or an industrial pipeline, etc. The river detection area may be an area within the river where floating pipelines are detected. It is to be understood that the river detection area may be a detection area along the extension direction of the river.
In the embodiment of the invention, a pipeline detection request is obtained, and a river channel detection area is determined according to the pipeline detection request. It can be understood that the pipeline in the river channel is laid in a manner of crossing the river channel, and thus a plurality of pipelines can cross the river channel detection area in the river channel.
And S120, acquiring a river channel section sonar image of the river channel detection area through an underwater advancing device.
The underwater vehicle may be a vehicle capable of traveling underwater, such as an underwater vehicle, and the embodiment of the present invention is not limited thereto. The river cross-section sonar image can be a sonar image obtained by scanning the river cross-section.
In the embodiment of the invention, after the river channel detection area is determined according to the pipeline detection request, a river channel cross section sonar image of the river channel detection area can be further obtained through the underwater advancing device.
And S130, under the condition that the river channel cross section sonar image is determined to be abnormal, determining the abnormal position of the river channel according to the river channel cross section sonar image.
The river channel abnormal position may be a position where an abnormality exists in the river channel, for example, a position where a protrusion exists in the river channel, a position where a recess exists in the river channel, or the like.
In the embodiment of the invention, after the underwater advancing device acquires the river channel cross section sonar image of the river channel detection area, whether the river channel cross section sonar image is abnormal or not can be further determined. When the river cross-section sonar image is abnormal, determining the abnormal position of the river according to the river cross-section sonar image. It can be understood that if there is no abnormality in the channel cross-section sonar image, which indicates that there is no floating pipeline in the channel detection area, the operation of acquiring the pipeline detection request may be returned to detect the floating pipeline in the next channel detection area.
And S140, acquiring a thermal imaging image corresponding to the river channel abnormal position through an underwater advancing device.
Wherein the thermographic image may be an image formed from temperature values. It will be appreciated that the temperature values emanating from the surface of different substances will be different, and therefore the thermographic image will be different for different substances.
In the embodiment of the invention, after the abnormal position of the river channel is determined according to the sonar image of the cross section of the river channel, the thermal imaging image corresponding to the abnormal position of the river channel can be further acquired through the underwater advancing device. It can be understood that after determining that the river channel cross section sonar image is abnormal, the factor causing the river channel cross section sonar image to be abnormal cannot be determined, and therefore, the thermal imaging image corresponding to the river channel abnormal position needs to be acquired through the underwater advancing device, and the factor causing the river channel cross section sonar image to be abnormal is further determined. It can be understood that the factor causing the anomaly of the sonar image on the cross section of the river channel can be garbage which is not removed in the river channel, or can be any factor which can cause the anomaly of the sonar image on the cross section of the river channel, such as a floating pipeline.
S150, detecting the pipeline in the river channel detection area according to the thermal imaging image.
In the embodiment of the invention, after the thermal imaging image corresponding to the abnormal position of the river channel is acquired by the underwater advancing device, the pipeline in the river channel detection area can be further detected according to the thermal imaging image. It will be appreciated that different lines will correspond to different thermographic images. Specifically, according to the thermal imaging image, different pipelines in the river detection area can be detected, so that pipeline type identification is carried out on floating pipelines in the river detection area.
The technical scheme of this embodiment, through obtaining the pipeline inspection request, according to pipeline inspection request determining river detection area, and through advancing the device under water and acquire river course detection area's river course cross-section sonar image, when river course cross-section sonar image exists unusually, according to river course cross-section sonar image determination river course abnormal position, and through advancing the device under water and acquire the thermal imaging image that river course abnormal position corresponds, detect according to the pipeline in the river course detection area of thermal imaging image, the detection method of solving pipe line in the current river course is because can't pinpoint to the showy pipeline in the river course, the pipe line that floats in the unable protection river course that leads to, shorten the problem of pipeline life-span, can carry out accurate positioning to showy pipeline in the river course, thereby in time protect showy pipeline in the river course, the pipeline life-span is prolonged.
Example two
Fig. 2 is a flowchart of a method for detecting an internal pipeline of a river according to a second embodiment of the present invention, which is a flowchart for further refining the above technical solutions, and provides various specific optional implementations of acquiring a sonar image of a river cross section of a river detection area by an underwater traveling device, determining that the sonar image of the river cross section is abnormal, determining an abnormal position of the river according to the sonar image of the river cross section, and acquiring a thermal imaging image corresponding to the abnormal position of the river by the underwater traveling device. The solution in this embodiment may be combined with the individual alternatives in one or more of the embodiments described above. As shown in fig. 2, the method may include the steps of:
s210, acquiring a pipeline detection request, and determining a river channel detection area according to the pipeline detection request.
S220, determining a first traveling instruction of the underwater traveling device according to the pipeline detection request.
And S230, responding to the first traveling instruction through the underwater traveling device so as to enable the underwater traveling device to travel in the river detection area.
Wherein the first travel instruction may be an instruction to enable the underwater vehicle to travel within the river detection area.
In the embodiment of the invention, after the river detection area is determined according to the pipeline detection request, a first travel instruction of the underwater traveling device can be further determined according to the pipeline detection request, and the underwater traveling device is responded to the first travel instruction so as to travel in the river detection area.
S240, acquiring a sonar image of the river channel section of the river channel detection area in the advancing process of the underwater advancing device through the underwater advancing device.
In the embodiment of the invention, after the underwater traveling device responds to the first traveling instruction, the underwater traveling device travels in the river detection area, and a river cross-section sonar image in the traveling process can be further acquired by the underwater traveling device.
Optionally, through advancing the device under water, obtain advancing the device under water and advancing the in-process, river course detection area's river course cross-section sonar image can include: through a sonar emission device in the underwater advancing device, sonar waves are emitted to the surface of a river channel in a river channel detection area in the advancing process of the underwater advancing device; receiving reflected sonar waves corresponding to the sonar waves by a sonar receiving device in the underwater traveling device; according to sonar waves and reflected sonar waves, a channel section sonar image is determined.
The sonar emitting device may be any device capable of emitting sonar waves, and may be, for example, a sonar detector, which is not limited in the embodiment of the present invention. The sonar receiving device may be any device capable of receiving sonar waves, and may be, for example, a sonar detector, which is not limited in the embodiment of the present invention. It can be understood that, sonar emission device is behind the transmission sonar wave, and the sonar wave meets the object and then can reflect, and sonar receiving arrangement can receive the sonar wave of reflection back, also is the reflection sonar wave that corresponds with the sonar wave.
Specifically, after responding to first travel instruction through advancing device under water, advancing device under water advances in river detection area, and sonar emission device in advancing device under water launches the sonar wave to the river course surface in the river detection area to receive the reflection sonar wave through sonar receiving arrangement among the advancing device under water, confirm river course cross-section sonar image according to sonar wave and reflection sonar wave.
And S250, under the condition that the river channel cross section sonar image is determined to be abnormal, determining the abnormal position of the river channel according to the river channel cross section sonar image.
Optionally, it is determined that the sonar image of the river cross section has abnormality, and the method may include: determining sonar image data matched with the position of the cross section of the river channel in the sonar image of the cross section of the river channel; carrying out consistency comparison on sonar image data matched with different river channel section positions and standard sonar image data; if sonar image data inconsistent with the standard sonar image data exist, the inconsistent sonar image data are determined as abnormal sonar image data, and the channel section sonar image is determined to be abnormal.
The river channel section position can be a position corresponding to any cross section in the river channel detection area. Sonar image data can be in river course cross-section sonar image, can characterize the data of the distance between river course surface and the underwater vehicle. The standard sonar image data can be data which can represent the distance between the surface of the river channel without abnormality and the underwater traveling device in the cross section sonar image of the river channel. Abnormal sonar image data can be data which can represent the distance between the abnormal river channel surface and an underwater advancing device in river channel cross section sonar images.
Specifically, through advancing the device under water, acquire advancing the device under water and at the in-process of advancing, behind the river course cross-section sonar image in river course detection area, can further confirm in the river course cross-section sonar image with the sonar image data of river course cross-section position matching to carry out the uniformity contrast with the sonar image data of different river course cross-section position matches and standard sonar image data. If sonar image data inconsistent with the standard sonar image data exists, which indicates that the position of the cross section of the river channel corresponding to the sonar image data is abnormal, the sonar image data can be determined as abnormal sonar image data, and the cross section sonar image of the river channel is determined to be abnormal. If sonar image data inconsistent with the standard sonar image data does not exist, the river channel section sonar image can be determined to be free of abnormality.
Optionally, the river course abnormal position is determined according to the river course cross section sonar image, and the method can include: determining the river channel section position corresponding to the abnormal sonar image data according to the abnormal sonar image data in the river channel section sonar image; and determining the river channel section position corresponding to the abnormal sonar image data as the river channel abnormal position.
Specifically, after determining that the river channel cross-section sonar image has an abnormality, the river channel cross-section position corresponding to the abnormal sonar image data can be further determined according to the abnormal sonar image data in the river channel cross-section sonar image, so that the river channel cross-section position corresponding to the abnormal sonar image data is determined as the river channel abnormal position.
And S260, determining a second advancing instruction of the underwater advancing device according to the river channel abnormal position.
And S270, responding to the second traveling instruction through the underwater traveling device so as to enable the underwater traveling device to travel to the river channel abnormal position.
The second travel command may be a command for enabling the underwater vehicle to travel to an abnormal position in the river.
In the embodiment of the invention, after the river channel abnormal position is determined according to the river channel cross section sonar image, a second advancing instruction of the underwater advancing device can be further determined according to the river channel abnormal position, and the underwater advancing device responds to the second advancing instruction so as to enable the underwater advancing device to advance to the river channel abnormal position.
S280, acquiring a thermal imaging image of the underwater advancing device at the river channel abnormal position corresponding to the river channel abnormal position through the underwater advancing device.
In the embodiment of the invention, after the underwater traveling device responds to the second traveling instruction, the underwater traveling device travels to the river channel abnormal position, and the thermal imaging image corresponding to the river channel abnormal position can be further acquired by the underwater traveling device.
Optionally, the acquiring, by the underwater traveling device, a thermal imaging image of the underwater traveling device at the abnormal position of the river channel, which corresponds to the abnormal position of the river channel, may include: and acquiring a thermal imaging image of the underwater advancing device at the abnormal position of the river channel, which corresponds to the abnormal position of the river channel, by a thermal imaging device in the underwater advancing device.
The thermal imaging device may be any device capable of acquiring a thermal imaging image, for example, a thermal detector, and the like, which is not limited in this embodiment of the present invention.
Specifically, after the underwater traveling device responds to the second traveling instruction, the underwater traveling device travels to the river channel abnormal position, and a thermal imaging image corresponding to the river channel abnormal position can be further acquired through a thermal imaging device in the underwater traveling device.
And S290, detecting the pipeline in the river channel detection area according to the thermal imaging image.
According to the technical scheme, the river channel detection area is determined according to the pipeline detection request by acquiring the pipeline detection request, the first traveling instruction of the underwater traveling device is determined according to the pipeline detection request, the underwater traveling device responds to the first traveling instruction, so that the underwater traveling device travels in the river channel detection area, and the underwater traveling device acquires the river channel cross section sonar image of the river channel detection area in the traveling process. When determining that the sonar image of the river channel section is abnormal, determining the abnormal position of the river channel according to the sonar image of the river channel section, determining a second advancing instruction of the underwater advancing device according to the abnormal position of the river channel, responding to the second traveling instruction through the underwater traveling device so as to enable the underwater traveling device to travel to the river channel abnormal position, thereby obtaining the thermal imaging image of the underwater advancing device at the abnormal position of the river channel through the underwater advancing device, and then detect the pipeline in the river course detection area according to the thermal imaging image, the problem of the pipeline life-span is shortened to the unable pipeline that floats in the timely protection river course that leads to because the pipeline that floats in can't pinpoint in the river course to the detection method of pipeline in the current river course, can carry out accurate location to the pipeline that floats in the river course to in time protect the pipeline that floats in the river course, extension pipeline life-span.
EXAMPLE III
Fig. 3 is a schematic view of a detection apparatus for an internal pipeline of a river according to a third embodiment of the present invention, as shown in fig. 3, the apparatus includes: river course detection area confirms module 310, river course cross-section sonar image acquisition module 320, unusual position of river course confirms module 330, thermal imaging image acquisition module 340 and pipeline detection module 350, wherein:
a river detection area determining module 310, configured to obtain a pipeline detection request, and determine a river detection area according to the pipeline detection request;
the river channel cross section sonar image acquisition module 320 is used for acquiring a river channel cross section sonar image of the river channel detection area through an underwater advancing device;
a river channel abnormal position determining module 330, configured to determine, according to the river channel cross-section sonar image, a river channel abnormal position when it is determined that the river channel cross-section sonar image is abnormal;
the thermal imaging image acquisition module 340 is configured to acquire a thermal imaging image corresponding to the river channel abnormal position through an underwater traveling device;
and the pipeline detection module 350 is configured to detect a pipeline in the river detection area according to the thermal imaging image.
The technical scheme of this embodiment, through obtaining the pipeline inspection request, according to pipeline inspection request definite river course detection area, and through advancing the device under water and acquire river course detection area's river course cross section sonar image, when river course cross section sonar image exists unusually, according to river course cross section sonar image definite river course abnormal position, and through advancing the device under water and acquire the thermal imaging image that river course abnormal position corresponds, with detect according to the pipeline in the thermal imaging image in the river course detection area, solve the detection method of pipeline in the current river course because can't carry out accurate positioning to the pipeline that floats in the river course, the pipeline that floats in the unable timely protection river course that leads to, shorten the problem of pipeline life, can carry out accurate location to the pipeline that floats in the river course, thereby the pipeline that floats in the timely protection river course, the extension pipeline life-span.
Optionally, river course cross-section sonar image acquisition module 320 can be specifically used for: determining a first travel instruction of the underwater travel device according to the pipeline detection request; responding to the first travel instruction through the underwater traveling device so as to enable the underwater traveling device to travel in the river detection area; through advancing the device under water, acquire advancing the device under water and advancing the in-process, river course detection area's river course cross-section sonar image.
Optionally, river cross-section sonar image acquisition module 320 can be further used for: through a sonar emission device in the underwater advancing device, sonar waves are emitted to the surface of a river channel in a river channel detection area in the advancing process of the underwater advancing device; receiving reflected sonar waves corresponding to the sonar waves by a sonar receiving device in the underwater traveling device; according to sonar waves and reflected sonar waves, a channel section sonar image is determined.
Optionally, the river channel abnormal position determining module 330 may be specifically configured to: determining sonar image data matched with the position of the cross section of the river channel in the sonar image of the cross section of the river channel; carrying out consistency comparison on sonar image data matched with different river channel section positions and standard sonar image data; if sonar image data inconsistent with the standard sonar image data exist, the inconsistent sonar image data are determined as abnormal sonar image data, and the channel section sonar image is determined to be abnormal.
Optionally, the river channel abnormal position determining module 330 may be further specifically configured to: determining the river channel section position corresponding to the abnormal sonar image data according to the abnormal sonar image data in the river channel section sonar image; and determining the river channel section position corresponding to the abnormal sonar image data as the river channel abnormal position.
Optionally, the thermal imaging image obtaining module 340 may be specifically configured to: determining a second advancing instruction of the underwater advancing device according to the abnormal position of the river channel; responding to the second travelling instruction through the underwater travelling device so as to enable the underwater travelling device to travel to the river channel abnormal position; and acquiring a thermal imaging image of the underwater advancing device at the abnormal position of the river channel, which corresponds to the abnormal position of the river channel, through the underwater advancing device.
Optionally, the thermal imaging image acquiring module 340 may be further configured to: and acquiring a thermal imaging image of the underwater advancing device at the abnormal position of the river channel, which corresponds to the abnormal position of the river channel, by a thermal imaging device in the underwater advancing device.
The detection device for the pipeline in the river provided by the embodiment of the invention can execute the detection method for the pipeline in the river provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
FIG. 4 shows a schematic block diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as a detection method of a pipeline in a river.
In some embodiments, the method of detecting a line in a river may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the above described method of detection of a pipeline in a river may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the method of detection of the pipeline within the river by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A detection method of pipelines in a river channel is characterized by comprising the following steps:
acquiring a pipeline detection request, and determining a river channel detection area according to the pipeline detection request;
acquiring a channel section sonar image of the channel detection area through an underwater travelling device;
under the condition that the river channel cross section sonar image is determined to be abnormal, determining the abnormal position of the river channel according to the river channel cross section sonar image;
acquiring a thermal imaging image corresponding to the river channel abnormal position through an underwater advancing device;
and detecting pipelines in the river channel detection area according to the thermal imaging image.
2. The method according to claim 1, wherein before the acquiring a channel cross-section sonar image of the channel detection area by the underwater traveling device, the method comprises:
determining a first travel instruction of the underwater travel device according to the pipeline detection request;
through the device of marcing under water acquire river course cross-section sonar image in river course detection area includes:
responding to the first travel instruction by the underwater travel device to cause the underwater travel device to travel within the river detection area;
through the underwater advancing device, the sonar image of the river channel section of the river channel detection area in the advancing process of the underwater advancing device is obtained.
3. The method according to claim 2, wherein the acquiring of the sonar image of the river cross section of the river detection area by the underwater traveling device during traveling of the underwater traveling device comprises:
through a sonar emission device in the underwater advancing device, in the advancing process of the underwater advancing device, sonar waves are emitted to the surface of a river channel in the river channel detection area;
receiving reflected sonar waves corresponding to the sonar waves by a sonar receiving device in the underwater traveling device;
and determining the sonar image of the river channel section according to the sonar waves and the reflected sonar waves.
4. The method according to claim 1, wherein the determining that the cross-section sonar image of the river channel has the abnormality comprises:
determining sonar image data matched with the position of the cross section of the river channel in the sonar image of the cross section of the river channel;
carrying out consistency comparison on sonar image data matched with different river channel section positions and standard sonar image data;
and if sonar image data inconsistent with the standard sonar image data exist, determining the inconsistent sonar image data as abnormal sonar image data, and determining that the river channel section sonar image is abnormal.
5. The method according to claim 4, wherein the determining the river channel abnormal position according to the river channel cross section sonar image comprises:
determining a river channel section position corresponding to the abnormal sonar image data according to the abnormal sonar image data in the river channel section sonar image;
and determining the river channel section position corresponding to the abnormal sonar image data as the river channel abnormal position.
6. The method according to claim 1, after determining the river channel abnormal position according to the river channel cross section sonar image, further comprising:
determining a second advancing instruction of the underwater advancing device according to the river channel abnormal position;
the acquiring of the thermal imaging image corresponding to the river channel abnormal position through the underwater advancing device comprises:
responding to the second travel instruction by the underwater traveling device to cause the underwater traveling device to travel to the river channel abnormal position;
and acquiring a thermal imaging image of the underwater advancing device at the river channel abnormal position corresponding to the river channel abnormal position through the underwater advancing device.
7. The method of claim 6, wherein the obtaining of the thermal imaging image of the underwater vehicle at the abnormal position of the river channel by the underwater vehicle comprises:
and acquiring a thermal imaging image of the underwater advancing device at the river channel abnormal position corresponding to the river channel abnormal position through a thermal imaging device in the underwater advancing device.
8. A detection device of pipeline in river course, characterized by includes:
the river channel detection area determining module is used for acquiring a pipeline detection request and determining a river channel detection area according to the pipeline detection request;
the river channel cross section sonar image acquisition module is used for acquiring a river channel cross section sonar image of the river channel detection area through an underwater advancing device;
the river channel abnormal position determining module is used for determining the river channel abnormal position according to the river channel cross section sonar image under the condition that the river channel cross section sonar image is determined to be abnormal;
the thermal imaging image acquisition module is used for acquiring a thermal imaging image corresponding to the river channel abnormal position through an underwater advancing device;
and the pipeline detection module is used for detecting the pipeline in the river channel detection area according to the thermal imaging image.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the method of detecting in-river lines according to any one of claims 1 to 7.
10. A computer-readable storage medium, storing computer instructions for causing a processor to execute the method for detecting an in-channel pipeline according to any one of claims 1-7.
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Cited By (1)
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| CN115932864A (en) * | 2023-02-24 | 2023-04-07 | 深圳市博铭维技术股份有限公司 | Pipeline defect detection method and pipeline defect detection device |
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