CN115859081A - Visual detection method and device for pipeline - Google Patents
Visual detection method and device for pipeline Download PDFInfo
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Abstract
The invention discloses a visual detection method and a visual detection device for pipelines, wherein the method comprises the following steps: determining underground pipeline echo signal data and underground pipeline burial depth according to the echo signal amplitude intensity of the echo signal; acquiring target underground pipeline echo signal data by combining the single-channel waveform acquisition time in the underground pipeline echo signal data and the absolute space coordinate acquired by the RTK locator at the single-channel waveform acquisition time in the underground pipeline echo signal data; determining laser point cloud data at the single-channel waveform acquisition moment, and performing conversion matrix calculation with target underground pipeline echo signal data to obtain the spatial absolute coordinates of the ground street view object corresponding to the underground pipeline existing position; and forming a three-dimensional space real-time visual display schematic diagram of the underground pipeline according to the echo signal data, the laser point cloud and the space absolute coordinates of the target underground pipeline. Not only improves the detection efficiency, but also facilitates the observation of the following underground pipeline operation and maintenance personnel by displaying in a visual form in real time.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a visual detection method and device for a pipeline.
Background
At present, due to the reasons that many old pipelines are long in age, lack of management and maintenance, lose design drawings and the like, detailed information such as pipeline positions and burial depths are lost, and hidden dangers are brought to city construction and construction. Therefore, it is important to accurately determine the position and buried depth of the underground pipeline for urban construction and development.
The ground penetrating radar is widely applied to the detection of urban underground pipelines due to the advantages of high resolution, high efficiency, no damage and the like. The ground penetrating radar continuously transmits electromagnetic waves to the underground through the transmitting antenna according to the data command of the host, and the receiving antenna performs continuous data acquisition. After sampling and A/D conversion, the received reflected signal is converted into digital signal for display and storage. Because different underground media have different dielectric constants, electromagnetic waves are transmitted to the interface of the medium layers to be reflected and refracted, and a receiving antenna receives a plurality of channels of reflected echo signals (the echo signals record data such as time, phase, amplitude, wavelength and the like of the reflected echoes). The most common technical processing means at present is to process the reflected echoes of electromagnetic waves into a gray image through signal processing, and then analyze and process the image, including the steps of calibrating zero offset, filtering, inter-channel averaging, background elimination, data superposition and the like. The typical gray image of the underground pipeline is a hyperbola with vertexes, the positions of the vertexes are artificially judged to obtain buried depth data of the underground pipeline, and the positions corresponding to different vertexes on the ground are connected to obtain position information of the underground pipeline.
However, the existing pipeline detection method needs a large amount of processing workload and has low detection efficiency, so the pipeline detection method which is visual and convenient and can simplify the workload is provided, and the pipeline detection method has important significance.
Disclosure of Invention
The invention provides a visual detection method and a visual detection device for pipelines, which are used for realizing the absolute position of an underground pipeline and the spatial position positioning relative to a ground street view object and realizing real-time visual display. The workload of processing required by detection is reduced, and the detection efficiency is improved.
In a first aspect, the present invention provides a method for visually detecting a pipeline, including:
acquiring an echo signal of an underground space medium obtained by a ground penetrating radar and laser point cloud of a ground street view object of a laser radar; the ground penetrating radar and the laser radar are arranged on a movable detection trolley; the ground penetrating radar is provided with an RTK locator;
determining the data of the echo signals of the underground pipeline and the buried depth of the underground pipeline according to the amplitude intensity of the echo signals;
acquiring target underground pipeline echo signal data by combining the single-channel waveform acquisition time in the underground pipeline echo signal data and the absolute space coordinate acquired by the RTK locator at the single-channel waveform acquisition time in the underground pipeline echo signal data;
determining laser point cloud data of the single-channel waveform acquisition moment, and performing conversion matrix calculation with the target underground pipeline echo signal data to obtain the spatial absolute coordinates of the ground street view object corresponding to the underground pipeline existing position;
and forming a three-dimensional space real-time visual display schematic diagram of the underground pipeline according to the target underground pipeline echo signal data, the laser point cloud and the space absolute coordinates.
Optionally, determining the echo signal data of the underground pipeline and the buried depth of the underground pipeline according to the amplitude intensity of the echo signal, includes:
determining the maximum amplitude intensity value of all the single-channel waveforms by taking the amplitude intensity of the echo signal as a characteristic factor;
screening out underground pipeline echo signals from all the single-channel waveform data according to the underground pipeline echo amplitude intensity threshold value, and obtaining the underground pipeline echo signal data by combining the maximum value of the amplitude intensity of the echo signals of the underground pipeline, the corresponding electromagnetic wave transmission two-way time and the single-channel waveform acquisition time;
and obtaining the buried depth of the underground pipeline by utilizing the corresponding electromagnetic wave propagation two-way time of the echo signal of the underground pipeline and combining an underground pipeline buried depth calculation formula.
Optionally, the underground pipeline buried depth calculation formula is specifically:
wherein d is i For the buried depth of underground pipelines, t i The corresponding electromagnetic wave propagation double-pass time of the echo signal of the underground pipeline, v is the electromagnetismThe propagation speed of the wave in the medium is determined by the speed of the electromagnetic wave in vacuum and the relative dielectric constant of the underground medium, and x is the distance between the transmitting antenna and the receiving antenna of the ground penetrating radar.
Optionally, forming a three-dimensional space real-time visual display schematic diagram of the underground pipeline according to the target underground pipeline echo signal data, the laser point cloud and the spatial absolute coordinates, including:
determining a gradual change ending color corresponding to the maximum amplitude intensity value of the echo signal of the underground pipeline echo signal according to the gradual change starting color corresponding to the amplitude intensity threshold value of the underground pipeline echo and the ending color corresponding to the amplitude intensity limit value of the ground penetrating radar;
and correspondingly dotting the amplitude intensity threshold of the echo of the underground pipeline at the space absolute coordinate based on the echo signal data of the target underground pipeline to obtain the track of the underground pipeline in the three-dimensional space, and forming a three-dimensional space visual display schematic diagram of the underground pipeline by combining the laser point cloud on the position where the underground pipeline exists.
In a second aspect, the present invention further provides a visual detection device for a pipeline, including:
the acquisition module is used for acquiring an echo signal of an underground space medium obtained by the ground penetrating radar and laser point cloud of a ground street view object of the laser radar; the ground penetrating radar and the laser radar are arranged on a movable detection trolley; the ground penetrating radar is provided with an RTK locator;
the underground pipeline data determining module is used for determining the underground pipeline echo signal data and the underground pipeline buried depth according to the echo signal amplitude intensity of the echo signal;
the target underground pipeline echo signal data determining module is used for combining the single-channel waveform acquisition time in the underground pipeline echo signal data and the absolute space coordinate acquired by the RTK locator at the single-channel waveform acquisition time in the underground pipeline echo signal data to obtain the target underground pipeline echo signal data;
the space absolute coordinate acquisition module is used for determining laser point cloud data at the single-channel waveform acquisition moment, and performing conversion matrix calculation with the target underground pipeline echo signal data to obtain space absolute coordinates of the ground street view object corresponding to the position where the underground pipeline exists;
and the three-dimensional space visual display schematic diagram forming module is used for forming a three-dimensional space real-time visual display schematic diagram of the underground pipeline according to the target underground pipeline echo signal data, the laser point cloud and the space absolute coordinates.
Optionally, the underground utility data determination module includes:
the amplitude intensity maximum value determining submodule is used for determining the amplitude intensity maximum value of all the single-channel waveforms by taking the echo signal amplitude intensity of the echo signal as a characteristic factor;
the underground pipeline echo signal data acquisition sub-module is used for screening out underground pipeline echo signals from all the single-channel waveform data according to an underground pipeline echo amplitude intensity threshold value, and obtaining the underground pipeline echo signal data by combining the maximum value of the amplitude intensity of the echo signals of the underground pipeline, the corresponding electromagnetic wave transmission two-way time and the single-channel waveform acquisition time;
and the underground pipeline buried depth determining submodule is used for obtaining the underground pipeline buried depth by utilizing the electromagnetic wave propagation two-way time corresponding to the underground pipeline echo signal and combining an underground pipeline buried depth calculation formula.
Optionally, the underground pipeline buried depth calculation formula is specifically:
wherein d is i For the buried depth of underground pipelines, t i The method is characterized in that the method is a two-way propagation time of electromagnetic waves corresponding to echo signals of underground pipelines, v is the propagation speed of the electromagnetic waves in a medium and is determined by the speed of the electromagnetic waves in vacuum and the relative dielectric constant of the underground medium, and x is the distance between a transmitting antenna and a receiving antenna of the ground penetrating radar.
Optionally, the module for forming a three-dimensional space visualization display diagram includes:
the end color determining submodule is used for determining a gradual change end color corresponding to the maximum amplitude intensity value of the echo signal of the underground pipeline according to the gradual change start color corresponding to the amplitude intensity threshold value of the echo of the underground pipeline and the end color corresponding to the amplitude intensity limit value of the ground penetrating radar;
and the three-dimensional space visual display schematic diagram forming sub-module is used for correspondingly dotting the echo amplitude intensity threshold value of the underground pipeline at the space absolute coordinate position based on the echo signal data of the target underground pipeline to obtain the track of the underground pipeline in the three-dimensional space, and forming the three-dimensional space visual display schematic diagram of the underground pipeline by combining with the laser point cloud on the position where the underground pipeline exists.
A third aspect of the application provides an electronic device comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute the visual detection method of the pipeline according to the first aspect according to instructions in the program code.
A fourth aspect of the present application provides a computer-readable storage medium for storing program code for executing the method for visual inspection of a pipeline according to the first aspect.
According to the technical scheme, the invention has the following advantages:
the method comprises the steps of obtaining an echo signal of an underground space medium obtained by a ground penetrating radar and laser point clouds of ground street view objects of the laser radar; the ground penetrating radar and the laser radar are arranged on a movable detection trolley; the ground penetrating radar is provided with an RTK locator; determining the data of the echo signals of the underground pipeline and the buried depth of the underground pipeline according to the amplitude intensity of the echo signals; acquiring target underground pipeline echo signal data by combining the single-channel waveform acquisition time in the underground pipeline echo signal data and the absolute space coordinate acquired by the RTK locator at the single-channel waveform acquisition time in the underground pipeline echo signal data; determining laser point cloud data of the single-channel waveform acquisition moment, and performing conversion matrix calculation with the target underground pipeline echo signal data to obtain the spatial absolute coordinates of the ground street view object corresponding to the underground pipeline existing position; and forming a three-dimensional space real-time visual display schematic diagram of the underground pipeline according to the target underground pipeline echo signal data, the laser point cloud and the space absolute coordinates. The absolute position of the ground wire pipeline and the space absolute coordinate relative to the ground street view object are determined by the omnibearing detection of the underground space and the ground street view object of the movable detection small fleet, so that the detection efficiency is improved, and the observation of subsequent underground pipeline operation and maintenance personnel is facilitated by the real-time visual display.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
FIG. 1 is a flow chart illustrating the steps of an embodiment of a method for visually inspecting a pipeline according to the present invention;
FIG. 2 is a schematic diagram of an underground pipeline inspection according to an embodiment of the visual inspection method for pipelines of the present invention;
FIG. 3 is a schematic diagram illustrating color gradient of an embodiment of a visual detection method for a pipeline according to the present invention;
FIG. 4 is a schematic diagram illustrating a three-dimensional real-time visualization of an underground pipeline according to an embodiment of a method for visually detecting a pipeline according to the present invention;
fig. 5 is a block diagram of a visual detection device for a pipeline according to an embodiment of the invention.
Detailed Description
The embodiment of the invention provides a visual detection method and a visual detection device for pipelines, which are used for realizing the absolute position of an underground pipeline and the positioning of the underground pipeline relative to the spatial position of an object on the ground street view, and realizing real-time visual display. The workload of processing required by detection is reduced, and the detection efficiency is improved.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in 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 obvious that the embodiments described below 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.
The existing underground pipeline detection data are stored in ground penetrating radar equipment, are discrete, do not enter an underground pipeline management system in real time, uniformly manage the detection data in practical application and generate more workload, and an effective means is lacked to solve the problem. Meanwhile, the confirmation of the hyperbola vertex of the ground penetrating radar gray level image mainly depends on artificial interpretation, is greatly influenced by the specialty and experience of people, and although researches such as an AI image recognition algorithm and the like are carried out, the detection result cannot be displayed on site in real time. In addition, the ground penetrating radar finishes detection, detection data needs to be exported, analyzed and processed, the process is tedious, time-consuming and long, detection results cannot be displayed on site in real time, and the detection efficiency is low.
To solve the above problems, an embodiment of the present invention provides a method for visually detecting a pipeline, please refer to fig. 1, where fig. 1 is a flowchart illustrating steps of an embodiment of a method for visually detecting a pipeline according to the present invention, which may specifically include the following steps:
s101, acquiring an echo signal of an underground space medium obtained by a ground penetrating radar and laser point clouds of ground street view objects of the laser radar; the ground penetrating radar and the laser radar are arranged on a movable detection trolley; the ground penetrating radar is provided with an RTK locator;
the visual detection method of the pipeline in the embodiment of the invention is mainly applied to an underground pipeline visual detection system consisting of a spatial information data real-time acquisition module, a pipeline spatial position detection module and a pipeline visual display module, please refer to fig. 2, fig. 2 is an underground pipeline detection schematic diagram of the visual detection method of the pipeline in the embodiment of the invention, the spatial information data real-time acquisition module arranges a ground penetrating radar 3 and a laser radar 2 on a mobile detection trolley 1 according to a certain spatial position relationship, and synchronously acquires echo signals of underground spatial media and laser point clouds of ground street view objects in real time; the underground and aboveground space information data are independently stored in the database.
The spatial position relation of the components related to the spatial information data real-time acquisition module is as follows: the ground penetrating radar 3 is arranged in the middle of the base of the movable detection trolley 1, and detects echo signals of underground space media in real time by transmitting elliptic cone-shaped electromagnetic waves to the underground; the ground penetrating radar 3 is provided with an RTK locator, and absolute space coordinates acquired at the acquisition moment of a single-channel waveform in underground pipeline echo signal data are recorded in real time; the laser radar 2 is arranged above the ground penetrating radar 3, and laser point cloud data of the street view object on the ground is obtained in real time by emitting laser in a conical area to the right front.
S102, determining underground pipeline echo signal data and underground pipeline burial depth according to the echo signal amplitude intensity of the echo signal;
the method specifically comprises the following steps:
determining the maximum amplitude intensity value of all the single-channel waveforms by taking the amplitude intensity of the echo signal as a characteristic factor;
screening out underground pipeline echo signals from all the single-channel waveform data according to the underground pipeline echo amplitude intensity threshold value, and obtaining the underground pipeline echo signal data by combining the maximum value of the amplitude intensity of the echo signals of the underground pipeline, the corresponding electromagnetic wave transmission two-way time and the single-channel waveform acquisition time;
obtaining the buried depth of the underground pipeline by utilizing the corresponding electromagnetic wave propagation two-way time of the echo signal of the underground pipeline and combining an underground pipeline buried depth calculation formula;
the underground pipeline buried depth calculation formula specifically comprises:
wherein d is i For the buried depth of underground pipelines, t i The method is characterized in that the method is a two-way propagation time of electromagnetic waves corresponding to echo signals of underground pipelines, v is the propagation speed of the electromagnetic waves in a medium and is determined by the speed of the electromagnetic waves in vacuum and the relative dielectric constant of the underground medium, and x is the distance between a transmitting antenna and a receiving antenna of the ground penetrating radar.
S103, combining the single-channel waveform acquisition time in the underground pipeline echo signal data and the absolute space coordinate acquired by the RTK locator at the single-channel waveform acquisition time in the underground pipeline echo signal data to obtain target underground pipeline echo signal data;
s104, determining laser point cloud data at the single-channel waveform acquisition time, and performing conversion matrix calculation with the target underground pipeline echo signal data to obtain the spatial absolute coordinates of the ground street view object corresponding to the underground pipeline existing position;
in the embodiment of the invention, a pipeline space position calculation module reads data acquired and stored by a space information data real-time acquisition module, for echo signals of underground space media, feature extraction and buried depth calculation are carried out on the echo signals of the underground pipelines on the basis of a ground penetrating radar echo amplitude threshold value judgment method, and the buried depth of the underground pipelines is acquired by combining RTK positioning data; and for the laser point cloud data of the street view object on the ground, acquiring the spatial absolute coordinates of the street view object on the ground through conversion matrix calculation. The absolute position of the underground pipeline and the space position of the underground pipeline relative to the ground street view object are positioned by omnibearing detection of underground and ground space information.
In a specific implementation, the specific implementation steps of the pipeline spatial position detection module include:
(1) Extracting the maximum amplitude intensity value of the single-channel waveform;
defining the moving distance S and the inter-channel distance L of the ground penetrating radar, the number of sampling points of a single-channel waveform as N, and a signal time windowAnd T, triggering acquisition in a distance mode, and taking the amplitude intensity A of an echo signal of an underground space medium as a characteristic factor to perform single-channel waveform N amplitude intensities (A) 1 、A 2 、…、A N ) Carry out the maximum value A m Extracting, simplifying and storing each single-channel waveform data as (C) i 、P i 、A mi 、t i ) Wherein, C i Is the serial number of a single-channel waveform, i is more than or equal to 1 and less than or equal to S/L; p i Is the C i Acquiring time corresponding to the single-channel waveform; a. The mi Is the C i Maximum amplitude intensity of the single-track waveform; t is t i Is the C i The electromagnetic wave propagation double-pass time corresponding to the maximum amplitude intensity value of the single-channel waveform is t which is more than or equal to 0 i ≤T。
(2) Screening the echo signals of the underground pipeline based on the echo amplitude intensity threshold value of the ground penetrating radar;
one-way waveform data (C) i 、P i 、A mi 、t i ) Echo amplitude intensity threshold A of underground pipeline e Making a comparison and judgment if A mi ≥A e Then, the single channel waveform is determined as the underground pipeline echo signal, and the underground pipeline echo detection data is stored as (G) i 、P i 、A mi 、t i ) Wherein G is i The sequence number of the echo signal of the underground pipeline is; if A mi ＜A e And judging that the single-channel waveform is an underground medium interference signal, and not storing data.
(3) Calculating the buried depth of the underground pipeline;
using underground pipeline echo signal data (G) i 、P i 、A mi 、t i ) Two-way time t for medium electromagnetic wave propagation i Data, calculating the buried depth d of the underground pipeline according to the buried depth calculation formula of the underground pipeline i The underground pipeline echo detection data is stored as (G) i 、P i 、A mi 、d i )。
The underground pipeline buried depth calculation formula specifically comprises:
while
Wherein d is i For the buried depth of underground pipelines, t i The method is characterized in that the method is a two-way propagation time of electromagnetic waves corresponding to echo signals of underground pipelines, v is the propagation speed of the electromagnetic waves in a medium and is determined by the speed of the electromagnetic waves in vacuum and the relative dielectric constant of the underground medium, x is the distance between a ground penetrating radar transmitting antenna and a receiving antenna, c is the speed of the electromagnetic waves in vacuum, and epsilonr is the relative dielectric constant of the underground medium.
(4) Fusing and obtaining the spatial position of the underground pipeline;
echo sounding data (G) for each pipeline i 、P i 、A mi 、d i ) Reading and fusing RTK locator correspondence P i Absolute spatial coordinates (x) of the acquisition instant i 、y i ) Obtaining target underground pipeline echo signal data (G) i 、P i 、A mi 、x i 、y i 、d i )。
(5) Acquiring a spatial position of a laser point cloud of an above-ground streetscape corresponding to the existing position of the underground pipeline;
reading laser radar P i And acquiring laser point cloud data of the ground street view object at the moment, and acquiring the spatial absolute coordinates of the ground street view object corresponding to the position where the underground pipeline exists through conversion matrix calculation.
S105, forming a three-dimensional space real-time visual display schematic diagram of the underground pipeline according to the target underground pipeline echo signal data, the laser point cloud and the space absolute coordinates;
the method specifically comprises the following steps:
determining a gradual change ending color corresponding to the maximum value of the amplitude intensity of the echo signal of the underground pipeline echo signal according to the gradual change starting color corresponding to the threshold value of the amplitude intensity of the echo of the underground pipeline and the ending color corresponding to the limit value of the amplitude intensity of the ground penetrating radar;
and correspondingly dotting the amplitude intensity threshold of the echo of the underground pipeline at the space absolute coordinate based on the echo signal data of the target underground pipeline to obtain the track of the underground pipeline in the three-dimensional space, and forming a three-dimensional space visual display schematic diagram of the underground pipeline by combining the laser point cloud on the position where the underground pipeline exists.
In the embodiment of the invention, the pipeline visualization display module reads the position information output by the pipeline space position detection module in real time, forms an underground pipeline track based on a pipeline echo signal amplitude intensity value dotting and marking method, and fuses a pipeline model and ground streetscape laser point cloud information to realize the three-dimensional space visualization display of the ground and underground positioning information of the pipeline.
In a specific implementation, the pipeline visualization display module specifically executes the following steps:
(1) Giving different colors to the pipeline echo signal amplitude intensity value;
referring to fig. 3, fig. 3 is a schematic diagram of color gradient of a visual pipeline detection method according to an embodiment of the present invention, in which the amplitude intensity threshold a is set in a color gradient mode e Corresponding to the starting color C of the gradation s Amplitude intensity limit A of ground penetrating radar p End color C corresponding to gradation c Amplitude intensity of echo signal of pipeline A mi Corresponding color C i The formula is calculated according to the following formula;
(2) Mapping underground pipeline tracks in a three-dimensional space;
echo signal data (G) for a target underground pipeline i 、P i 、A mi 、x i 、y i 、d i ) The amplitude intensity value A of the echo signal of each underground pipeline is calculated mi Absolute coordinates (x) in three dimensions i 、y i 、d i ) Point is pointed at corresponding point with color C i ，C i The closer to C c The higher the confidence of the pipeline position at that point; the mark points are connected into a strip along with the increase of accumulation of the moving mark points of the detection radarAnd obtaining an underground pipeline track in the three-dimensional space.
(3) Performing fusion display on the three-dimensional pipeline model and the laser point cloud;
for a three-dimensional underground space, a pipeline three-dimensional model is placed at a pipeline track position in real time, and for a three-dimensional aboveground space, ground streetscape object laser point clouds corresponding to the underground pipeline position are displayed in real time to form a three-dimensional space real-time visual display schematic diagram of the underground pipeline as shown in fig. 4.
The method comprises the steps of obtaining an echo signal of an underground space medium obtained by a ground penetrating radar and laser point clouds of ground street view objects of the laser radar; the ground penetrating radar and the laser radar are arranged on a movable detection trolley; the ground penetrating radar is provided with an RTK locator; determining the data of the echo signals of the underground pipeline and the buried depth of the underground pipeline according to the amplitude intensity of the echo signals; acquiring target underground pipeline echo signal data by combining the single-channel waveform acquisition time in the underground pipeline echo signal data and the absolute space coordinate acquired by the RTK locator at the single-channel waveform acquisition time in the underground pipeline echo signal data; determining laser point cloud data of the single-channel waveform acquisition moment, and performing conversion matrix calculation with the target underground pipeline echo signal data to obtain the spatial absolute coordinates of the ground street view object corresponding to the underground pipeline existing position; and forming a three-dimensional space real-time visual display schematic diagram of the underground pipeline according to the target underground pipeline echo signal data, the laser point cloud and the space absolute coordinates. The absolute position of the ground wire pipeline and the space absolute coordinate relative to the ground street view object are determined by the omnibearing detection of the underground space and the ground street view object of the movable detection small fleet, so that the detection efficiency is improved, and the observation of subsequent underground pipeline operation and maintenance personnel is facilitated by the real-time visual display.
Referring to fig. 5, a block diagram of an embodiment of an apparatus for analyzing and reporting power grid operating data is shown, which includes the following modules:
the acquisition module 201 is used for acquiring an echo signal of an underground space medium obtained by a ground penetrating radar and a laser point cloud of a ground street view object of the laser radar; the ground penetrating radar and the laser radar are arranged on a movable detection trolley; the ground penetrating radar is provided with an RTK locator;
the underground pipeline data determining module 202 is used for determining the underground pipeline echo signal data and the underground pipeline buried depth according to the echo signal amplitude intensity of the echo signal;
the target underground pipeline echo signal data determining module 203 is used for combining the single-channel waveform acquisition time in the underground pipeline echo signal data and the absolute space coordinate acquired by the RTK locator at the single-channel waveform acquisition time in the underground pipeline echo signal data to obtain target underground pipeline echo signal data;
a space absolute coordinate obtaining module 204, configured to determine laser point cloud data at the time of acquiring the single waveform, and perform transformation matrix calculation with the target underground pipeline echo signal data to obtain a space absolute coordinate of a ground street view object corresponding to an underground pipeline existing position;
and a three-dimensional space visualization display schematic diagram forming module 205, configured to form a three-dimensional space real-time visualization display schematic diagram of the underground pipeline according to the target underground pipeline echo signal data, the laser point cloud, and the space absolute coordinates.
In an alternative embodiment, the underground pipeline data determination module 202 includes:
the amplitude intensity maximum value determining submodule is used for determining the amplitude intensity maximum value of all the single-channel waveforms by taking the echo signal amplitude intensity of the echo signal as a characteristic factor;
the underground pipeline echo signal data acquisition sub-module is used for screening out underground pipeline echo signals from all the single-channel waveform data according to an underground pipeline echo amplitude intensity threshold value, and obtaining the underground pipeline echo signal data by combining the maximum value of the amplitude intensity of the echo signals of the underground pipeline, the corresponding electromagnetic wave transmission two-way time and the single-channel waveform acquisition time;
and the underground pipeline buried depth determining submodule is used for obtaining the buried depth of the underground pipeline by utilizing the corresponding electromagnetic wave propagation two-way time of the underground pipeline echo signal and combining an underground pipeline buried depth calculation formula.
In an optional embodiment, the underground pipeline buried depth calculation formula is specifically:
wherein d is i For the buried depth of underground pipelines, t i The method is characterized in that the method is a two-way propagation time of electromagnetic waves corresponding to echo signals of underground pipelines, v is the propagation speed of the electromagnetic waves in a medium and is determined by the speed of the electromagnetic waves in vacuum and the relative dielectric constant of the underground medium, and x is the distance between a transmitting antenna and a receiving antenna of the ground penetrating radar.
In an optional embodiment, the underground utility data determination module includes:
the amplitude intensity maximum value determining submodule is used for determining the amplitude intensity maximum value of all the single-channel waveforms by taking the echo signal amplitude intensity of the echo signal as a characteristic factor;
the underground pipeline echo signal data acquisition sub-module is used for screening out underground pipeline echo signals from all the single-channel waveform data according to an underground pipeline echo amplitude intensity threshold value, and obtaining the underground pipeline echo signal data by combining the maximum value of the amplitude intensity of the echo signals of the underground pipeline, the corresponding electromagnetic wave transmission two-way time and the single-channel waveform acquisition time;
and the underground pipeline buried depth determining submodule is used for obtaining the buried depth of the underground pipeline by utilizing the corresponding electromagnetic wave propagation two-way time of the underground pipeline echo signal and combining an underground pipeline buried depth calculation formula.
The application also provides an electronic device, which comprises a processor and a memory;
the memory is used for storing the program codes and transmitting the program codes to the processor;
the processor is configured to execute the visual detection method of the pipeline in the above method embodiment according to instructions in the program code.
The present application further provides a computer-readable storage medium for storing program code for performing the method for visual detection of a pipeline in the above method embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for executing all or part of the steps of the method described in the embodiments of the present application through a computer device (which may be a personal computer, a server, or a network device). And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method of visually inspecting a pipeline, comprising:
acquiring an echo signal of an underground space medium obtained by a ground penetrating radar and laser point cloud of a ground street view object of a laser radar; the ground penetrating radar and the laser radar are arranged on a movable detection trolley; the ground penetrating radar is provided with an RTK locator;
determining the data of the echo signals of the underground pipeline and the buried depth of the underground pipeline according to the amplitude intensity of the echo signals;
acquiring target underground pipeline echo signal data by combining the single-channel waveform acquisition time in the underground pipeline echo signal data and the absolute space coordinate acquired by the RTK locator at the single-channel waveform acquisition time in the underground pipeline echo signal data;
determining laser point cloud data of the single-channel waveform acquisition moment, and performing conversion matrix calculation with the target underground pipeline echo signal data to obtain the spatial absolute coordinates of the ground street view object corresponding to the underground pipeline existing position;
and forming a three-dimensional space real-time visual display schematic diagram of the underground pipeline according to the target underground pipeline echo signal data, the laser point cloud and the space absolute coordinates.
2. The method for visually detecting the pipeline according to claim 1, wherein the determining the echo signal data of the underground pipeline and the buried depth of the underground pipeline according to the amplitude intensity of the echo signal comprises:
determining the maximum amplitude intensity value of all the single-channel waveforms by taking the amplitude intensity of the echo signal as a characteristic factor;
screening out underground pipeline echo signals from all the single-channel waveform data according to the underground pipeline echo amplitude intensity threshold value, and obtaining the underground pipeline echo signal data by combining the maximum value of the amplitude intensity of the echo signals of the underground pipeline, the corresponding electromagnetic wave transmission two-way time and the single-channel waveform acquisition time;
and obtaining the buried depth of the underground pipeline by utilizing the corresponding electromagnetic wave propagation double-pass time of the echo signal of the underground pipeline and combining with an underground pipeline buried depth calculation formula.
3. The visual detection method for the pipeline according to claim 2, wherein the underground pipeline burial depth calculation formula is specifically as follows:
wherein, d i For the buried depth of underground pipelines, t i The method is characterized in that the method is a two-way propagation time of electromagnetic waves corresponding to echo signals of underground pipelines, v is the propagation speed of the electromagnetic waves in a medium and is determined by the speed of the electromagnetic waves in vacuum and the relative dielectric constant of the underground medium, and x is the distance between a transmitting antenna and a receiving antenna of the ground penetrating radar.
4. The method for visually detecting the pipeline according to claim 2, wherein a three-dimensional real-time visual display diagram of the underground pipeline is formed according to the echo signal data of the target underground pipeline, the laser point cloud and the spatial absolute coordinates, and comprises:
determining a gradual change ending color corresponding to the maximum value of the amplitude intensity of the echo signal of the underground pipeline echo signal according to the gradual change starting color corresponding to the threshold value of the amplitude intensity of the echo of the underground pipeline and the ending color corresponding to the limit value of the amplitude intensity of the ground penetrating radar;
and correspondingly dotting the amplitude intensity threshold of the echo of the underground pipeline at the space absolute coordinate based on the echo signal data of the target underground pipeline to obtain the track of the underground pipeline in the three-dimensional space, and forming a three-dimensional space visual display schematic diagram of the underground pipeline by combining the laser point cloud on the position where the underground pipeline exists.
5. A visual inspection apparatus for a pipeline, comprising:
the acquisition module is used for acquiring an echo signal of the underground space medium obtained by the ground penetrating radar and laser point cloud of a ground street view object of the laser radar; the ground penetrating radar and the laser radar are arranged on a movable detection trolley; the ground penetrating radar is provided with an RTK locator;
the underground pipeline data determining module is used for determining the underground pipeline echo signal data and the underground pipeline buried depth according to the echo signal amplitude intensity of the echo signal;
the target underground pipeline echo signal data determining module is used for combining the single-channel waveform acquisition time in the underground pipeline echo signal data and the absolute space coordinate acquired by the RTK locator at the single-channel waveform acquisition time in the underground pipeline echo signal data to obtain the target underground pipeline echo signal data;
the space absolute coordinate acquisition module is used for determining laser point cloud data at the single-channel waveform acquisition moment, and performing conversion matrix calculation with the target underground pipeline echo signal data to obtain space absolute coordinates of the ground street view object corresponding to the position where the underground pipeline exists;
and the three-dimensional space visual display schematic diagram forming module is used for forming a three-dimensional space real-time visual display schematic diagram of the underground pipeline according to the target underground pipeline echo signal data, the laser point cloud and the space absolute coordinates.
6. The visual pipeline detection apparatus of claim 5, wherein the underground pipeline data determination module comprises:
the amplitude intensity maximum value determining submodule is used for determining the amplitude intensity maximum value of all the single-channel waveforms by taking the echo signal amplitude intensity of the echo signal as a characteristic factor;
the underground pipeline echo signal data acquisition sub-module is used for screening out underground pipeline echo signals from all the single-channel waveform data according to an underground pipeline echo amplitude intensity threshold value, and obtaining the underground pipeline echo signal data by combining the maximum value of the amplitude intensity of the echo signals of the underground pipeline, the corresponding electromagnetic wave transmission two-way time and the single-channel waveform acquisition time;
and the underground pipeline buried depth determining submodule is used for obtaining the buried depth of the underground pipeline by utilizing the corresponding electromagnetic wave propagation two-way time of the underground pipeline echo signal and combining an underground pipeline buried depth calculation formula.
7. The visual pipeline detection device according to claim 6, wherein the underground pipeline burial depth calculation formula is specifically:
wherein d is i For the buried depth of underground pipelines, t i The two-way propagation time of electromagnetic wave corresponding to the echo signal of underground pipeline, v is the propagation speed of electromagnetic wave in mediumThe speed in vacuum and the relative dielectric constant of the underground medium are determined, and x is the distance between the transmitting antenna and the receiving antenna of the ground penetrating radar.
8. The visual inspection device of pipeline according to claim 6, wherein the three-dimensional space visual display schematic diagram forming module comprises:
the end color determining submodule is used for determining a gradual change end color corresponding to the maximum amplitude intensity value of the echo signal of the underground pipeline according to the gradual change start color corresponding to the amplitude intensity threshold value of the echo of the underground pipeline and the end color corresponding to the amplitude intensity limit value of the ground penetrating radar;
and the three-dimensional space visual display schematic diagram forming sub-module is used for correspondingly dotting the echo amplitude intensity threshold value of the underground pipeline at the space absolute coordinate position based on the echo signal data of the target underground pipeline to obtain an underground pipeline track in a three-dimensional space, and forming the three-dimensional space visual display schematic diagram of the underground pipeline by combining with the laser point cloud on the position where the underground pipeline exists.
9. An electronic device comprising a processor and a memory, the memory storing computer readable instructions that, when executed by the processor, perform the method of any of claims 1-4.
10. A storage medium on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-4.
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| CN116929451A (en) * | 2023-07-25 | 2023-10-24 | 河北九华勘查测绘有限责任公司 | Pipeline three-dimensional visual management system based on big data |
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| CN116929451A (en) * | 2023-07-25 | 2023-10-24 | 河北九华勘查测绘有限责任公司 | Pipeline three-dimensional visual management system based on big data |
| CN116929451B (en) * | 2023-07-25 | 2023-12-29 | 河北九华勘查测绘有限责任公司 | Pipeline three-dimensional visual management system based on big data |
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