CN117036217A - Underground pipe network data acquisition and detection method, device, equipment and medium - Google Patents

Underground pipe network data acquisition and detection method, device, equipment and medium Download PDF

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Publication number
CN117036217A
CN117036217A CN202310919319.3A CN202310919319A CN117036217A CN 117036217 A CN117036217 A CN 117036217A CN 202310919319 A CN202310919319 A CN 202310919319A CN 117036217 A CN117036217 A CN 117036217A
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characteristic image
points
equidistant
underground
coordinates
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Inventor
岳东
周镇
王强
陈宇鸣
陶锴
刘奇东
李万敏
杨天博
李雪莹
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Nanjing University of Posts and Telecommunications
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Nanjing University of Posts and Telecommunications
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration by the use of more than one image, e.g. averaging, subtraction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
    • F17D—PIPE-LINE SYSTEMS; PIPE-LINES
    • F17D5/00—Protection or supervision of installations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/952—Inspecting the exterior surface of cylindrical bodies or wires
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/451—Execution arrangements for user interfaces
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G01N2021/8854—Grading and classifying of flaws
    • G01N2021/8861—Determining coordinates of flaws
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
    • G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques

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  • General Physics & Mathematics (AREA)
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  • General Engineering & Computer Science (AREA)
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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Immunology (AREA)
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  • General Health & Medical Sciences (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
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  • Image Processing (AREA)

Abstract

The invention discloses a method, a device, equipment and a medium for collecting and detecting underground pipe network data, wherein the method comprises the following steps: taking the central line of the target underground vertical pipeline as a reference, downwards acquiring the coordinates of edge points of a space plane where all equidistant points are located; preprocessing edge point coordinates corresponding to the equidistant points, and fitting the preprocessing result by a least square method to generate a corresponding first characteristic image; judging whether gaps exist on the first characteristic images corresponding to the equidistant points, if so, judging that underground horizontal pipelines connected with the target underground vertical pipelines exist at the corresponding equidistant points; acquiring edge point coordinates of two ends of each notch, and fitting the edge point coordinates of the two ends of each notch by a least square method to generate a corresponding second characteristic image; fitting each first characteristic image and each second characteristic image to generate an underground pipe network characteristic image and performing visual display; the invention saves time and labor, is more intelligent, and can adapt to different application scenes.

Description

Underground pipe network data acquisition and detection method, device, equipment and medium
Technical Field
The invention relates to a method, a device, equipment and a medium for optimizing underground pipe network data acquisition and detection, and belongs to the technical field of underground pipe networks.
Background
At present, a field detection mode still exists in data acquisition and detection of pipelines, a technical worker can acquire pipeline data and record detection data to the underground pipe network field at regular intervals, defect detection information of the section of pipelines is analyzed, health grade assessment of the underground pipe network is carried out according to defect sizes and defect numbers, and pipeline maintenance personnel carry out corresponding treatment on the pipelines according to the health grade of the underground pipe network. From the current mode, the underground pipe network needs one section to perform data acquisition, detection and analysis, the engineering quantity is large, the timeliness is poor, the defects of severe working environment, high labor intensity and poor safety exist, the feasibility is not high in a complex pipeline environment, the complete detection of the whole pipeline is difficult to realize, and the detection of personnel entering the pipeline is mainly applicable to pipelines with the pipe diameter of more than 800 mm.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a method, a device, equipment and a medium for collecting and detecting underground pipe network data, which solve the technical problems that the existing manual detection mode is time-consuming and labor-consuming and is small in adaptation scene.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
in a first aspect, the present invention provides a method for collecting and detecting underground pipe network data, including:
taking the central line of the target underground vertical pipeline as a reference, downwards acquiring the coordinates of edge points of a space plane where all equidistant points are located;
preprocessing the edge point coordinates corresponding to the equidistant points, and fitting the preprocessing result by a least square method to generate a corresponding first characteristic image;
judging whether a gap exists on the first characteristic image corresponding to each equidistant point, if so, judging that an underground horizontal pipeline connected with the target underground vertical pipeline exists at the corresponding equidistant point;
acquiring edge point coordinates of two ends of each notch, and fitting the edge point coordinates of the two ends of each notch by a least square method to generate a corresponding second characteristic image;
fitting each first characteristic image and each second characteristic image to generate an underground pipe network characteristic image and performing visual display.
Optionally, the preprocessing the coordinates of the edge points corresponding to the equidistant points includes:
and eliminating edge points which do not meet the following formula in the edge point coordinates corresponding to the equidistant points:
wherein (X) i，j ，Y i，j ) The (A) is the coordinates of the ith edge point corresponding to the jth equidistant point j ，B j ) For the j-th equidistant point coordinate,and R is the inner diameter of the underground vertical pipeline.
Optionally, the determining whether the gap exists in the first feature image corresponding to each equidistant point includes:
calculating the distance between adjacent edge points on the first characteristic image corresponding to the equidistant points:
wherein (X) r，j ，Y r，j )、(X r-1，j ，Y r-1，J ) The coordinates of the r, r-1 edge points on the first characteristic image corresponding to the j-th equidistant points;
if it isEpsilon is a distance threshold value, a gap exists on the first characteristic image corresponding to the jth equidistant point, and the distance between two ends of the gap is +.>The edge coordinates of the two ends of the notch are (X) r，j ，Y r，j )、(X r-1，j ， Yr-1，j )。
Optionally, the generating the corresponding second feature image includes:
the distances at the two ends of the notch are sequenced according to the sequence of the equidistant points to form a distance sequence;
forming a distance combination by the distances between two ends of the notch, wherein the values in the distance sequence are changed from small to big;
and each distance combination corresponds to a second characteristic image, and the coordinates of the edge points corresponding to the distances between the two ends in each distance combination are fitted through a least square method to generate corresponding second characteristic images.
In a second aspect, the present invention provides a device for collecting and detecting underground pipe network data, the device comprising:
the data acquisition module is used for downwardly acquiring the coordinates of edge points of the space plane where the equidistant points are positioned by taking the central line of the target underground vertical pipeline as a reference;
the vertical pipeline fitting module is used for preprocessing the edge point coordinates corresponding to the equidistant points, fitting the preprocessing result through a least square method and generating a corresponding first characteristic image;
the horizontal pipeline judging module is used for judging whether gaps exist on the first characteristic images corresponding to the equidistant points, and if so, judging that underground horizontal pipelines connected with the target underground vertical pipelines exist at the corresponding equidistant points;
the horizontal pipeline fitting module is used for acquiring the edge point coordinates of the two ends of each notch, fitting the edge point coordinates of the two ends of each notch through a least square method, and generating a corresponding second characteristic image;
and the underground pipeline network fitting module is used for fitting each first characteristic image and each second characteristic image, generating an underground pipeline network characteristic image and carrying out visual display.
In a third aspect, the present invention provides an electronic device, including a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is operative according to the instructions to perform steps according to the method described above.
In a fourth aspect, the present invention provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the above method.
Compared with the prior art, the invention has the beneficial effects that:
the method, the device, the equipment and the medium for collecting and detecting the underground pipe network data provided by the invention collect the coordinate information of each plane in an equidistant mode, pre-process the coordinate information and improve the accuracy of fitting the coordinate information into a characteristic image by a least square method; the construction of the underground vertical pipeline and the underground horizontal pipeline is completed through the fitting of the first characteristic image and the second characteristic image, so that compared with a manual mode, the method is time-saving and labor-saving, more intelligent and simultaneously suitable for different application scenes; the device, the equipment and the medium can realize the same technical effect by adopting the method.
Drawings
Fig. 1 is a flowchart of a method for collecting and detecting underground pipe network data according to an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
Embodiment one:
in a first aspect, the present invention provides a method for collecting and detecting underground pipe network data, including:
1. taking the central line of the target underground vertical pipeline as a reference, downwards acquiring the coordinates of edge points of a space plane where all equidistant points are located;
in the actual acquisition process, an individual soldier data acquisition platform is built, and the individual soldier data acquisition platform comprises a probe rod, a meter, an ultrasonic sensor and a bracket; fixing the bracket at the port of the target underground vertical pipeline, and enabling the probe rod to be installed on the bracket and positioned on the central line of the target underground vertical pipeline by means of an auxiliary tool; the ultrasonic sensor and the meter counter are arranged at the bottom of the probe rod; the descending distance is acquired through the meter counter, and the coordinate information of one circle is acquired at equidistant points through the ultrasonic sensor.
2. Preprocessing edge point coordinates corresponding to the equidistant points, and fitting the preprocessing result by a least square method to generate a corresponding first characteristic image;
the preprocessing of the edge point coordinates corresponding to the equidistant points comprises the following steps:
and eliminating edge points which do not meet the following formula in the edge point coordinates corresponding to the equidistant points:
wherein (X) i,j ,Y i,j ) The (A) is the coordinates of the ith edge point corresponding to the jth equidistant point j ,B j ) For the j-th equidistant point coordinate,r is the inner diameter of the underground vertical pipeline and is the coordinate difference value of the x axis and the y axis;
and the effective edge point coordinates are reserved through preprocessing, so that the fitting error of the characteristic image is reduced.
3. Judging whether gaps exist on the first characteristic images corresponding to the equidistant points, if so, judging that underground horizontal pipelines connected with the target underground vertical pipelines exist at the corresponding equidistant points;
wherein, judging whether the first characteristic image corresponding to each equidistant point has a gap comprises:
calculating the distance between adjacent edge points on the first characteristic image corresponding to each equidistant point:
wherein (X) r,j ,Y r,j )、(X r-1,j ,Y r-1,j ) The coordinates of the r, r-1 edge points on the first characteristic image corresponding to the j-th equidistant points;
if it isEpsilon is the distance threshold, a gap exists on the first characteristic image corresponding to the jth equidistant point, and the gapThe distance between two ends is->The edge coordinates of the two ends of the notch are (X) r,j ,Y r,j )、(X r-1,j ,Y r-1,j )。
4. Acquiring edge point coordinates of two ends of each notch, and fitting the edge point coordinates of the two ends of each notch by a least square method to generate a corresponding second characteristic image;
wherein generating the corresponding second feature image comprises:
the distances at the two ends of the notch are sequenced according to the sequence of the equidistant points to form a distance sequence;
forming a distance combination by the distances between two ends of the notch with the values from small to big to small in the distance sequence; if the value increases, the distance between the two end points is not up to the diameter distance of the branch pipe or is smaller than the diameter of the horizontal branch pipe, so that the acquired data still occur in the upper half part of the horizontal branch pipe, and the lower half part of the horizontal branch pipe is not detected; if the distance between the two end points is smaller than the last measured value, namely, the phenomenon that the comparison of the plurality of groups of data measured in the previous time is firstly enlarged and then reduced is generated, the distance is shown to be over the diameter position of the horizontal branch pipe, the measuring range is covered by more than half a circle, and the ultrasonic sensor reaches the lower half part of the horizontal branch pipe;
and each distance combination corresponds to a second characteristic image, and the coordinates of the edge points corresponding to the distances at the two ends in each distance combination are fitted through a least square method to generate a corresponding second characteristic image.
5. Fitting each first characteristic image and each second characteristic image to generate an underground pipe network characteristic image and carrying out visual display.
Embodiment two:
the embodiment of the invention provides a device for collecting and detecting underground pipe network data, which comprises the following components:
the data acquisition module is used for downwardly acquiring the coordinates of edge points of the space plane where the equidistant points are positioned by taking the central line of the target underground vertical pipeline as a reference;
the vertical pipeline fitting module is used for preprocessing the edge point coordinates corresponding to the equidistant points, fitting the preprocessing result through a least square method and generating a corresponding first characteristic image;
the horizontal pipeline judging module is used for judging whether gaps exist on the first characteristic images corresponding to the equidistant points, and if so, judging that underground horizontal pipelines connected with the target underground vertical pipelines exist at the corresponding equidistant points;
the horizontal pipeline fitting module is used for acquiring the edge point coordinates of the two ends of each notch, fitting the edge point coordinates of the two ends of each notch by a least square method, and generating a corresponding second characteristic image;
and the underground pipeline network fitting module is used for fitting each first characteristic image and each second characteristic image, generating an underground pipeline network characteristic image and carrying out visual display.
Embodiment III:
based on the first embodiment, the embodiment of the invention provides electronic equipment, which comprises a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is operative according to the instructions to perform steps according to the method described above.
Embodiment four:
based on the first embodiment, the embodiment of the present invention provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the above method.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.

Claims (7)

1. The underground pipe network data acquisition and detection method is characterized by comprising the following steps of:
taking the central line of the target underground vertical pipeline as a reference, downwards acquiring the coordinates of edge points of a space plane where all equidistant points are located;
preprocessing the edge point coordinates corresponding to the equidistant points, and fitting the preprocessing result by a least square method to generate a corresponding first characteristic image;
judging whether a gap exists on the first characteristic image corresponding to each equidistant point, if so, judging that an underground horizontal pipeline connected with the target underground vertical pipeline exists at the corresponding equidistant point;
acquiring edge point coordinates of two ends of each notch, and fitting the edge point coordinates of the two ends of each notch by a least square method to generate a corresponding second characteristic image;
fitting each first characteristic image and each second characteristic image to generate an underground pipe network characteristic image and performing visual display.
2. The underground pipe network data acquisition and detection method according to claim 1, wherein the preprocessing of the coordinates of the edge points corresponding to the equidistant points comprises:
and eliminating edge points which do not meet the following formula in the edge point coordinates corresponding to the equidistant points:
wherein (X) i,j ,Y i,j ) The (A) is the coordinates of the ith edge point corresponding to the jth equidistant point j ,B j ) For the j-th equidistant point coordinate,and R is the inner diameter of the underground vertical pipeline.
3. The underground pipe network data collection and detection method according to claim 2, wherein the determining whether the gap exists in the first feature image corresponding to each equidistant point comprises:
calculating the distance between adjacent edge points on the first characteristic image corresponding to the equidistant points:
wherein (X) r,j ,Y r,j )、(X r-1,j ,Y r-1,j ) The coordinates of the r, r-1 edge points on the first characteristic image corresponding to the j-th equidistant points;
if it isIf the distance is the distance threshold, a gap exists on the first characteristic image corresponding to the jth equidistant point, and the distance between the two ends of the gap is +.>The edge coordinates of the two ends of the notch are (X) r,j ,Y r,j )、(X r-1,j ,Y r-1,j )。
4. The underground pipe network data collection and detection method according to claim 3, wherein the generating the corresponding second characteristic image includes:
the distances at the two ends of the notch are sequenced according to the sequence of the equidistant points to form a distance sequence;
forming a distance combination by the distances between two ends of the notch, wherein the values in the distance sequence are changed from small to big;
and each distance combination corresponds to a second characteristic image, and the coordinates of the edge points corresponding to the distances between the two ends in each distance combination are fitted through a least square method to generate corresponding second characteristic images.
5. A device for collecting and detecting underground pipe network data, the device comprising:
the data acquisition module is used for downwardly acquiring the coordinates of edge points of the space plane where the equidistant points are positioned by taking the central line of the target underground vertical pipeline as a reference;
the vertical pipeline fitting module is used for preprocessing the edge point coordinates corresponding to the equidistant points, fitting the preprocessing result through a least square method and generating a corresponding first characteristic image;
the horizontal pipeline judging module is used for judging whether gaps exist on the first characteristic images corresponding to the equidistant points, and if so, judging that underground horizontal pipelines connected with the target underground vertical pipelines exist at the corresponding equidistant points;
the horizontal pipeline fitting module is used for acquiring the edge point coordinates of the two ends of each notch, fitting the edge point coordinates of the two ends of each notch through a least square method, and generating a corresponding second characteristic image;
and the underground pipeline network fitting module is used for fitting each first characteristic image and each second characteristic image, generating an underground pipeline network characteristic image and carrying out visual display.
6. An electronic device, comprising a processor and a storage medium;
the storage medium is used for storing instructions;
the processor being operative according to the instructions to perform the steps of the method according to any one of claims 1-4.
7. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the steps of the method according to any of claims 1-4.
CN202310919319.3A 2023-07-25 2023-07-25 Underground pipe network data acquisition and detection method, device, equipment and medium Pending CN117036217A (en)

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CN202310919319.3A CN117036217A (en) 2023-07-25 2023-07-25 Underground pipe network data acquisition and detection method, device, equipment and medium

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Application Number Priority Date Filing Date Title
CN202310919319.3A CN117036217A (en) 2023-07-25 2023-07-25 Underground pipe network data acquisition and detection method, device, equipment and medium

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