CN117212609A - Urban pipeline inspection system, and disease diagnosis system and method - Google Patents
Urban pipeline inspection system, and disease diagnosis system and method Download PDFInfo
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- 238000007689 inspection Methods 0.000 title claims abstract description 148
- 201000010099 disease Diseases 0.000 title claims abstract description 78
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 title claims abstract description 78
- 238000003745 diagnosis Methods 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000007613 environmental effect Effects 0.000 claims abstract description 70
- 238000012544 monitoring process Methods 0.000 claims abstract description 42
- 238000005286 illumination Methods 0.000 claims description 46
- 238000012545 processing Methods 0.000 abstract description 11
- 230000005540 biological transmission Effects 0.000 description 8
- 238000004891 communication Methods 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 239000003595 mist Substances 0.000 description 2
- 238000003062 neural network model Methods 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 238000004148 unit process Methods 0.000 description 2
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 229910002091 carbon monoxide Inorganic materials 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
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Abstract
The application discloses an urban pipeline inspection system, a disease diagnosis system and a disease diagnosis method, and relates to the technical field of urban pipelines. A city pipeline inspection system, a disease diagnosis system and a method, wherein a control unit receives environmental data in an inspection range from an environmental monitoring unit and judges whether the environmental data meets the environmental requirement of a data acquisition unit in operation, when the environmental data does not meet the environmental requirement of the data acquisition unit in operation, the control unit controls an environmental protection unit to adjust the environmental data in the inspection range until the environmental data meets the environmental requirement of the data acquisition unit in operation, and then the control unit controls the data acquisition unit to acquire the pipeline data in the inspection range, so that the quality of the pipeline data acquired by the data acquisition unit is ensured, the workload of subsequent pipeline data processing is reduced, the efficiency of pipeline disease diagnosis is improved, and the accuracy of disease diagnosis is improved.
Description
Technical Field
The application relates to the technical field of urban pipelines, in particular to an urban pipeline inspection system, a disease diagnosis system and a disease diagnosis method.
Background
The urban underground pipeline is a main guarantee of normal operation of cities, and with the continuous promotion of urban cities, the number and the service life of the underground pipelines put into operation are increased year by year, and the demand of inspection and disease diagnosis of urban underground pipe networks is increased.
At present, urban underground pipelines are mainly inspected by adopting a pipeline robot, the pipeline robot collects image data of the pipelines in the inspection process, and the image data is processed after the inspection is finished so as to obtain the disease type and grade of the urban underground pipelines.
However, since the urban underground pipeline is buried underground, the environment in the pipeline is complex, so that the acquired image quality is poor, the workload of image processing in the later stage is high, the efficiency of pipeline disease diagnosis is reduced, and the accuracy of disease diagnosis is poor.
Disclosure of Invention
The application aims to provide an urban pipeline inspection system, a disease diagnosis system and a method, which solve the problem that the quality of pipeline images acquired by the existing pipeline robots is poor.
The technical scheme adopted for solving the technical problems is as follows:
the urban pipeline inspection system comprises a walking unit, a data acquisition unit, an environment monitoring unit, an environment protection unit and a control unit, wherein the data acquisition unit, the environment monitoring unit, the environment protection unit and the control unit are arranged on the walking unit; the control unit is used for controlling the walking unit to walk in the inspection range; the control unit is also used for receiving the environmental data in the inspection range acquired by the environmental monitoring unit and judging whether the environmental data meets the environmental requirement of the data acquisition unit during operation; if yes, the control unit controls the data acquisition unit to acquire the pipeline data in the inspection range, and if not, the control unit controls the environment protection unit to adjust the environment data in the inspection range.
Further, the environment monitoring unit comprises an illumination sensor, and the environment guaranteeing unit comprises an illumination lamp; the control unit is used for receiving the illumination intensity of the illumination sensor in the inspection range and judging whether the illumination intensity meets the illumination requirement of the data acquisition unit during operation; if yes, the control unit controls the data acquisition unit to acquire pipeline data in the inspection range, and if not, the control unit controls the illuminating lamp to adjust illumination intensity in the inspection range.
Further, the environment monitoring unit comprises a temperature and humidity sensor, and the environment guaranteeing unit comprises a warm air blower; the control unit is used for receiving the temperature and humidity in the inspection range obtained by the temperature and humidity sensor and judging whether the temperature and humidity meet the temperature and humidity requirements during operation of the data acquisition unit or not; if yes, the control unit controls the data acquisition unit to acquire pipeline data in the inspection range, and if not, the control unit controls the warm air blower to adjust the temperature and the humidity in the inspection range.
Further, the data acquisition unit comprises a camera, and the camera is used for acquiring image data in the inspection range.
Further, the data acquisition unit comprises a three-dimensional laser scanner, and the three-dimensional laser scanner is used for acquiring three-dimensional point cloud data in the inspection range.
Further, the device also comprises an obstacle clearing unit arranged on the walking unit; the control unit is also used for receiving the image data collected by the camera within the inspection range and judging whether an obstacle exists on a walking path of the walking unit; if yes, the control unit controls the obstacle clearing unit to clear the obstacle.
Further, the walking device further comprises a harmful gas monitoring unit arranged on the walking unit, wherein the harmful gas monitoring unit is used for acquiring harmful gas data in the inspection range.
Further, the walking device further comprises a positioning unit arranged on the walking unit, and the positioning unit is used for acquiring the position of the walking unit in the inspection range.
The urban pipeline disease diagnosis system comprises a disease diagnosis unit and at least one inspection system, wherein the inspection system is an urban pipeline inspection system; after the control unit controls the data acquisition unit to acquire the pipeline data in the inspection range, the control unit transmits the pipeline data to the disease diagnosis unit, and the disease diagnosis unit processes the pipeline data to obtain the type and grade of pipeline diseases.
A city pipeline disease diagnosis method adopts a city pipeline disease diagnosis system, comprising the following steps: the control unit controls the walking unit to walk in the inspection range of the urban pipeline according to a preset path; the environment monitoring unit acquires environment data in the inspection range; the control unit receives the environmental data and judges whether the environmental data meets the environmental requirement of the data acquisition unit during operation; if yes, the control unit controls the data acquisition unit to acquire pipeline data in the inspection range, the pipeline data are transmitted to the disease diagnosis unit, and the disease diagnosis unit processes the pipeline data to obtain pipeline disease types and grades; if not, the control unit controls the environment protection unit to adjust the environment data in the inspection range.
The application has the beneficial effects that:
according to the urban pipeline inspection system, the disease diagnosis system and the method provided by the embodiment of the application, the control unit receives the environmental data in the inspection range from the environmental monitoring unit and judges whether the environmental data meets the environmental requirement of the data acquisition unit in operation, when the environmental data does not meet the environmental requirement of the data acquisition unit in operation, the control unit controls the environmental protection unit to adjust the environmental data in the inspection range until the environmental data meets the environmental requirement of the data acquisition unit in operation, and then the control unit controls the data acquisition unit to acquire the pipeline data in the inspection range, so that the quality of the pipeline data acquired by the data acquisition unit is ensured, the subsequent operation amount of pipeline data processing is reduced, the pipeline disease diagnosis efficiency is improved, and the disease diagnosis accuracy is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of an urban pipeline inspection system provided by an embodiment of the application;
FIG. 2 is a block diagram of a system for diagnosing urban pipeline diseases according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a method for diagnosing urban pipeline diseases according to an embodiment of the present application.
Reference numerals:
100-disease diagnosis unit; 200-inspection system; 210-a walking unit; 220-a data acquisition unit; 221-a camera; 222-a three-dimensional laser scanner; 230-an environmental monitoring unit; 231-illumination sensor; 232-a temperature and humidity sensor; 240-an environment protection unit; 241-an illumination lamp; 242-warm air blower; 250-a control unit; 251-memory; 252-a processor; 260-an obstacle clearing unit; 270-a harmful gas monitoring unit; 280-a positioning unit; 290-communication unit.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. And embodiments of the application and features of embodiments may be combined with each other without conflict.
In the description of the embodiments of the present application, the indicated azimuth or positional relationship is based on the azimuth or positional relationship shown in the drawings, or the azimuth or positional relationship conventionally put when the product of the application is used, or the azimuth or positional relationship conventionally understood by those skilled in the art. The terms "disposed," "configured," "mounted," "connected," "coupled" and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, and integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements.
Urban underground pipelines mainly refer to pipelines in pipeline systems such as urban underground water supply and drainage. At present, urban underground pipelines are mainly inspected by pipeline robots, and the specific operation process is as follows: firstly, draining water in an underground pipeline, then, placing a pipeline robot in the underground pipeline to walk according to a set path, acquiring image data of the pipeline by using a camera in the walking process of the pipeline robot, and then, processing the image data to obtain the disease type and grade of the urban underground pipeline. However, because the light is dim, the humidity is great and the temperature is low in the urban underground pipeline, after the pipeline robot is put into the underground pipeline from the ground, water mist is easily condensed on the lens of the camera due to the temperature difference, and the dim environment is added, so that the image shot by the camera is blurred, the acquired image quality is poor, when the image data are processed in the later stage to diagnose the pipeline disease type and grade, the workload is large, the efficiency of pipeline disease diagnosis is reduced, and the accuracy of pipeline disease diagnosis is also easily poor.
In order to solve the above problems, referring to fig. 1, an urban pipeline inspection system according to an embodiment of the present application includes a walking unit 210, a data acquisition unit 220, an environment monitoring unit 230, an environment protection unit 240 and a control unit 250 disposed on the walking unit 210; the control unit 250 is used for controlling the walking unit 210 to walk in the inspection range; the control unit 250 is further configured to receive the environmental data obtained by the environmental monitoring unit 230 in the inspection range, and determine whether the environmental data meets an environmental requirement during the operation of the data acquisition unit 220; if yes, the control unit 250 controls the data acquisition unit 220 to acquire the pipeline data within the inspection range, and if not, the control unit 250 controls the environment protection unit 240 to adjust the environment data within the inspection range.
The traveling unit 210 is used for traveling within a patrol range within an urban underground pipeline. The walking unit 210 may have a wheel type structure, a crawler type structure, a four-foot structure, or the like. By way of example, the walking unit 210 may be a conventional electric cart, mobile robot, quadruped mobile platform, or the like. The specific structure of the walking unit 210 is not limited in the embodiment of the present application, as long as it can move in the urban underground pipeline and carry various devices disposed thereon to walk. The inspection range is a walking range of the walking unit 210 in the urban underground pipeline. It can be appreciated that the inspection range can be specifically set according to actual needs.
The data acquisition unit 220 is disposed on the walking unit 210, and is used for acquiring pipeline data within the inspection range. The data acquisition unit 220 is disposed on the walking unit 210 through a cradle head. In the process of walking of the walking unit 210, the cradle head is utilized to drive the data acquisition unit 220 to rotate, so that the data acquisition unit 220 can acquire pipeline data in the inspection range in an omnibearing manner.
The environment monitoring unit 230 is disposed on the walking unit 210, and is configured to acquire environment data within the inspection range. The environmental monitoring unit 230 is disposed on the traveling unit 210 through a cradle head. In the process of walking of the walking unit 210, the cradle head is utilized to drive the environment monitoring unit 230 to rotate, so that the environment monitoring unit 230 acquires environmental data in the inspection range in an omnibearing manner.
The environment protection unit 240 is disposed on the traveling unit 210, and is used for adjusting environment data within the inspection range. The environment protection unit 240 is disposed on the traveling unit 210 through a cradle head. In the process of walking of the walking unit 210, the cradle head is utilized to drive the environment protection unit 240 to rotate, so that the environment protection unit 240 can omnidirectionally adjust the environment data in the inspection range.
The control unit 250 is disposed on the walking unit 210 and electrically connected with the walking unit 210, the data acquisition unit 220, the environment monitoring unit 230, and the environment protection unit 240, respectively. The control unit 250 is used for controlling the walking unit 210 to walk, storing and analyzing the data acquired by the environment monitoring unit 230, and controlling the environment protection unit 240 to adjust the environment data, and controlling the data acquisition unit 220 to acquire the pipeline data.
Illustratively, the control unit 250 includes a memory 251 and a processor 252, the processor 252 being electrically connected to the walking unit 210, the data acquisition unit 220, the environment monitoring unit 230, and the environment protection unit 240, respectively. The memory 251 is used for storing and meeting the environmental requirements of the data acquisition unit 220 during operation; the memory 251 is also used for storing various data, such as program codes, etc., in the urban pipeline inspection system, and implementing high-speed, automatic access of programs or data during the operation of the processor 252. The processor 252 is used for performing calculation processing on the relevant data in the memory 251. Memory 251 may be any medium readable by a computer capable of storing data, and processor 252 may be a central processing unit, a digital signal processor, a single chip microcomputer, or the like.
The embodiment of the application provides an urban pipeline inspection system, which is used for inspecting urban underground pipelines, and comprises the following specific inspection processes: placing the urban pipeline inspection system into a pipeline to be inspected, and controlling the walking unit 210 to walk in an inspection range by the control unit 250, and at the same time, acquiring environmental data in the inspection range by the environmental monitoring unit 230 and sending the environmental data to the control unit 250; the control unit 250 receives the environmental data acquired by the environmental monitoring unit 230 and then judges whether the environmental data meets the environmental requirement when the data acquisition unit 220 works; when the environmental data meets the environmental requirement during the operation of the data acquisition unit 220, the control unit 250 controls the data acquisition unit 220 to acquire the pipeline data in the inspection range; when the environmental data does not meet the environmental requirement of the operation of the data acquisition unit 220, the control unit 250 controls the environmental protection unit 240 to adjust the environmental data until the environmental data meets the environmental requirement of the operation of the data acquisition unit 220.
When the urban pipeline inspection system is inspected in the pipeline, the urban pipeline inspection system is taken out of the pipeline, the collected pipeline data are transmitted to the disease diagnosis unit 100, and the pipeline data are processed by the disease diagnosis unit 100 to obtain the pipeline disease type and grade.
According to the urban pipeline inspection system provided by the embodiment of the application, the control unit 250 receives the environmental data in the inspection range from the environmental monitoring unit 230 and judges whether the environmental data meets the environmental requirement of the data acquisition unit 220 in operation, when the environmental data does not meet the environmental requirement of the data acquisition unit 220 in operation, the control unit 250 controls the environmental protection unit 240 to adjust the environmental data in the inspection range until the environmental data meets the environmental requirement of the data acquisition unit 220 in operation, and then the control unit 250 controls the data acquisition unit 220 to acquire the pipeline data in the inspection range, so that the quality of the pipeline data acquired by the data acquisition unit 220 is ensured, the subsequent operation amount of pipeline data processing is reduced, the pipeline disease diagnosis efficiency is improved, and the disease diagnosis accuracy is improved.
Referring to fig. 1, the environment monitoring unit 230 includes an illumination sensor 231, and the environment securing unit 240 includes an illumination lamp 241; the control unit 250 is configured to receive the illumination intensity obtained by the illumination sensor 231 within the inspection range, and determine whether the illumination intensity meets an illumination requirement during operation of the data acquisition unit 220; if yes, the control unit 250 controls the data acquisition unit 220 to acquire the pipeline data in the inspection range, and if not, the control unit 250 controls the illuminating lamp 241 to adjust the illumination intensity in the inspection range.
Specifically, the illumination sensor 231 is disposed on the walking unit 210, and is configured to obtain the illumination intensity within the inspection range. The illumination lamp 241 is disposed on the walking unit 210 for adjusting the illumination intensity within the inspection range. The control unit 250 is electrically connected to the illumination sensor 231 and the illumination lamp 241, respectively. When the urban pipeline inspection system is inspected in the urban underground pipeline, the illumination sensor 231 acquires the illumination intensity in the inspection range, and the control unit 250 judges whether the illumination intensity meets the illumination intensity requirement when the data acquisition unit 220 works after receiving the illumination intensity acquired by the illumination sensor 231; when the illumination intensity meets the illumination intensity requirement during operation of the data acquisition unit 220, the control unit 250 controls the data acquisition unit 220 to acquire pipeline data in the inspection range; when the illumination intensity does not meet the illumination intensity requirement during the operation of the data acquisition unit 220, the control unit 250 controls the illumination lamp 241 to be lightened so as to improve the illumination intensity in the inspection range until the illumination intensity meets the illumination intensity requirement during the operation of the data acquisition unit 220. This can prevent the quality of the pipe data collected by the data collection unit 220 from being affected due to insufficient illumination intensity in the pipe.
Referring to fig. 1, the environment monitoring unit 230 includes a temperature and humidity sensor 232, and the environment protecting unit 240 includes a warm air blower 242; the control unit 250 is configured to receive the temperature and humidity in the inspection range obtained by the temperature and humidity sensor 232, and determine whether the temperature and humidity meet the temperature and humidity requirement during the operation of the data acquisition unit 220; if yes, the control unit 250 controls the data acquisition unit 220 to acquire the pipeline data in the inspection range, and if not, the control unit 250 controls the fan heater 242 to adjust the temperature and the humidity in the inspection range.
Specifically, the temperature and humidity sensor 232 is disposed on the walking unit 210, and is configured to obtain the temperature and humidity in the inspection range. Wherein, the temperature and humidity refer to temperature and humidity. The fan heater 242 is disposed on the traveling unit 210, and is used for adjusting the temperature and humidity in the inspection range. The control unit 250 is electrically connected to the temperature and humidity sensor 232 and the warm air blower 242, respectively. When the urban pipeline inspection system is inspected in an urban underground pipeline, the temperature and humidity sensor 232 acquires the temperature and humidity in the inspection range, and the control unit 250 judges whether the temperature and humidity meet the temperature and humidity requirement when the data acquisition unit 220 works after receiving the temperature and humidity acquired by the temperature and humidity sensor 232; when the temperature and humidity meet the temperature and humidity requirements during operation of the data acquisition unit 220, the control unit 250 controls the data acquisition unit 220 to acquire pipeline data in the inspection range; when the temperature and humidity do not meet the temperature and humidity requirements during operation of the data acquisition unit 220, the control unit 250 controls the fan heater 242 to blow warm air into the pipeline to increase the temperature and reduce the humidity until the temperature and humidity meet the temperature and humidity requirements during operation of the data acquisition unit 220. Therefore, water mist is prevented from being condensed on the data acquisition unit 220 due to the fact that the temperature and the humidity do not meet the operation requirements, and the quality of pipeline data acquired by the data acquisition unit 220 is prevented from being affected.
Referring to fig. 1, the data acquisition unit 220 includes a camera 221, and the camera 221 is used for acquiring image data within a patrol range. The camera 221 is disposed on the walking unit 210 and is electrically connected to the control unit 250. Wherein the image data includes at least one of an image and a video.
The data acquisition unit 220 further includes a three-dimensional laser scanner 222, and the three-dimensional laser scanner 222 is used for acquiring three-dimensional point cloud data within the inspection range. The three-dimensional laser scanners 222 are each disposed on the travel unit 210 and electrically connected to the control unit 250.
According to the urban pipeline inspection system provided by the embodiment of the application, through the arrangement of the camera 221 and the three-dimensional laser scanner 222, not only can the image data of the pipeline be acquired, but also the three-dimensional point cloud data of the pipeline can be acquired, so that two pipeline data can be processed and compared in the later period, pipeline diseases can be diagnosed from different angles, and the accuracy of pipeline disease diagnosis is improved. Environmental data in the inspection range is adjusted through the environment guaranteeing unit 240, so that the environmental data such as illumination intensity, temperature and humidity can meet the environmental requirements of the data acquisition unit 220 during operation, and the quality of pipeline data acquired by the data acquisition unit 220 can be prevented from being influenced due to illumination, water condensation and other reasons.
Referring to fig. 1, the obstacle clearing unit 260 is further included to be provided on the traveling unit 210; the control unit 250 is further configured to receive image data collected by the camera 221 within the inspection range, and determine whether an obstacle exists on the walking path of the walking unit 210; if yes, the control unit 250 controls the obstacle clearing unit 260 to clear the obstacle.
Specifically, the obstacle clearing unit 260 is disposed on the traveling unit 210, and is used to clear obstacles on a traveling path of the traveling unit 210. Illustratively, the obstacle clearing unit 260 may be a robot, a bucket, or the like. The obstacle clearance unit 260 is electrically connected with the control unit 250. During the inspection process, the camera 221 collects image data within the inspection range; after receiving the image data collected by the camera 221, the control unit 250 determines whether there is an obstacle on the walking path of the walking unit 210; when the obstacle such as stone exists on the walking path, the control unit 250 controls the walking unit 210 to slow down or stop moving, meanwhile, the control unit 250 controls the obstacle clearing unit 260 to clear the obstacle such as stone to one side of the walking path, and then the control unit 250 controls the walking unit 210 to continue walking along the walking path until the inspection work within the inspection range is completed.
Referring to fig. 1, the walking unit 210 further includes a harmful gas monitoring unit 270, and the harmful gas monitoring unit 270 is configured to acquire harmful gas data within a patrol range.
Specifically, the harmful gas monitoring unit 270 is disposed on the traveling unit 210 through a cradle head. In the process of walking of the walking unit 210, the cradle head is utilized to drive the harmful gas monitoring unit 270 to rotate, so that the harmful gas monitoring unit 270 can collect harmful gas data in the inspection range in an omnibearing manner. Exemplary harmful gas monitoring units 270 include, but are not limited to, methane concentration sensors, carbon monoxide concentration sensors, and the like. When the urban underground pipeline is inspected by the urban pipeline inspection system, the harmful gas concentration in the pipeline can be obtained through the harmful gas monitoring unit 270, so that a maintainer can judge whether the pipeline is in a safe state according to the harmful gas concentration in the pipeline, and reasonable and safe treatment measures can be taken according to the state of the pipeline.
Referring to fig. 1, the walking device further includes a positioning unit 280 disposed on the walking unit 210, where the positioning unit 280 is configured to obtain a position of the walking unit 210 within the inspection range. The positioning unit 280 is electrically connected to the control unit 250. The positioning unit 280 is used for positioning within the inspection range. Positioning unit 280 includes, but is not limited to, a GPS locator, positioning radar, and the like.
Referring to fig. 2, the urban pipeline disease diagnosis system provided by the embodiment of the application includes a disease diagnosis unit 100 and at least one inspection system 200, where the inspection system 200 is the urban pipeline inspection system of the above embodiment; after the control unit 250 controls the data acquisition unit 220 to acquire the pipe data within the inspection range, the control unit 250 transmits the pipe data to the disease diagnosis unit 100, and the disease diagnosis unit 100 processes the pipe data to obtain the type and grade of the pipe disease.
The disease diagnosis unit 100 is used for receiving and processing the pipe data collected by the inspection system 200 and outputting the type and grade of pipe disease. The disease diagnosis unit 100 may be at least one computer. Specifically, when the disease diagnosis unit 100 receives the image data collected by the processing inspection system 200, the feature images are fused and extracted, and the feature images are effectively identified by using a deep neural network model or algorithm to determine the type and grade of the pipeline disease. When the disease diagnosis unit 100 receives the three-dimensional point cloud data collected by the processing inspection system 200, the line drawing piece is utilized to process the point cloud data to generate a grid model, and then the deep neural network model or algorithm is utilized to effectively identify the gray value of the pixel point, so as to judge the type and the grade of the pipeline disease. And comparing and analyzing the multiple groups of data to obtain a final disease conclusion of the pipeline, and recording the disease position.
When the inspection system 200 does not have an active transmission function, data transmission between the inspection system 200 and the disease diagnosis unit 100 may be achieved by introducing the pipe data collected by the inspection system 200 into the disease diagnosis unit 100.
To facilitate the transmission of data between the inspection system 200 and the disease diagnosis unit 100, referring to fig. 1, the inspection system 200 includes a communication unit 290 provided on the walking unit 210. Exemplary communication units 290 include, but are not limited to, a WIFI communication module, a 4G/5G communication module, a bluetooth module, and the like. In this way, the data transmission between the inspection system 200 and the disease diagnosis unit 100 may be performed by wireless transmission, and may be real-time transmission or periodic transmission, or may be disposable transmission after the inspection system 200 finishes inspection. The disease diagnosis unit 100 may also serve as a monitoring terminal, and monitor the inspection process of the inspection system 200 in a video manner.
Referring to fig. 3, the urban pipeline disease diagnosis method provided by the embodiment of the application adopts the urban pipeline disease diagnosis system in the embodiment, and comprises the following steps:
s1, a control unit 250 controls a walking unit 210 to walk in a patrol range in an urban pipeline according to a preset path;
s2, the environment monitoring unit 230 acquires environment data in the inspection range;
s3, the control unit 250 receives the environmental data and judges whether the environmental data meets the environmental requirement when the data acquisition unit 220 works;
s4, if yes, the control unit 250 controls the data acquisition unit 220 to acquire the pipeline data in the inspection range,
s5, transmitting the pipeline data to the disease diagnosis unit 100;
s6, the disease diagnosis unit 100 processes the pipeline data to obtain the type and grade of the pipeline disease;
s7, if not, the control unit 250 controls the environment protection unit 240 to adjust the environment data in the inspection range, and then the step S2 is returned.
The urban pipeline disease diagnosis system and method provided by the embodiment of the application ensure the quality of pipeline data acquired by the data acquisition unit 220, reduce the workload of subsequent pipeline data processing, improve the efficiency of pipeline disease diagnosis and improve the accuracy of disease diagnosis.
The foregoing description of the preferred embodiment of the application is not intended to limit the application in any way, but rather to limit the scope of the application.
Claims (10)
1. The urban pipeline inspection system is characterized by comprising a walking unit (210), a data acquisition unit (220), an environment monitoring unit (230), an environment protection unit (240) and a control unit (250) which are arranged on the walking unit (210);
the control unit (250) is used for controlling the walking unit (210) to walk in the inspection range; the control unit (250) is further configured to receive environmental data acquired by the environmental monitoring unit (230) within the inspection range, and determine whether the environmental data meets an environmental requirement during operation of the data acquisition unit (220);
if yes, the control unit (250) controls the data acquisition unit (220) to acquire pipeline data in the inspection range, and if not, the control unit (250) controls the environment protection unit (240) to adjust environment data in the inspection range.
2. The urban pipeline inspection system according to claim 1, characterized in that said environment monitoring unit (230) comprises an illumination sensor (231), said environment assurance unit (240) comprises an illumination lamp (241);
the control unit (250) is used for receiving the illumination intensity in the inspection range acquired by the illumination sensor (231) and judging whether the illumination intensity meets the illumination requirement during the operation of the data acquisition unit (220);
if yes, the control unit (250) controls the data acquisition unit (220) to acquire pipeline data in the inspection range, and if not, the control unit (250) controls the illuminating lamp (241) to adjust illumination intensity in the inspection range.
3. Urban pipeline inspection system according to claim 1 or 2, characterized in that said environment monitoring unit (230) comprises a temperature and humidity sensor (232), said environment protection unit (240) comprises a fan heater (242);
the control unit (250) is used for receiving the temperature and humidity in the inspection range obtained by the temperature and humidity sensor (232) and judging whether the temperature and humidity meet the temperature and humidity requirement during operation of the data acquisition unit (220);
if yes, the control unit (250) controls the data acquisition unit (220) to acquire pipeline data in the inspection range, and if not, the control unit (250) controls the fan heater (242) to adjust the temperature and the humidity in the inspection range.
4. The urban pipeline inspection system according to claim 1, wherein the data acquisition unit (220) comprises a camera (221), the camera (221) being configured to acquire image data within the inspection range.
5. The urban pipeline inspection system according to claim 1 or 4, wherein the data acquisition unit (220) comprises a three-dimensional laser scanner (222), the three-dimensional laser scanner (222) being configured to acquire three-dimensional point cloud data within the inspection range.
6. The urban pipeline inspection system according to claim 4, further comprising an obstacle clearance unit (260) provided on the travelling unit (210);
the control unit (250) is further configured to receive image data collected by the camera (221) within the inspection range, and determine whether an obstacle exists on a walking path of the walking unit (210); if yes, the control unit (250) controls the obstacle clearing unit (260) to clear the obstacle.
7. The urban pipeline inspection system according to claim 1, further comprising a harmful gas monitoring unit (270) disposed on the travelling unit (210), the harmful gas monitoring unit (270) being configured to acquire harmful gas data within the inspection range.
8. The urban pipeline inspection system according to claim 1, further comprising a positioning unit (280) provided on the travelling unit (210), the positioning unit (280) being configured to obtain the position of the travelling unit (210) within the inspection range.
9. A city pipeline disease diagnosis system, characterized by comprising a disease diagnosis unit (100) and at least one inspection system (200), the inspection system (200) being the city pipeline inspection system of any one of claims 1 to 8;
after the control unit (250) controls the data acquisition unit (220) to acquire the pipeline data in the inspection range, the control unit (250) transmits the pipeline data to the disease diagnosis unit (100), and the disease diagnosis unit (100) processes the pipeline data to obtain the type and grade of the pipeline disease.
10. A method for diagnosing urban pipeline disease, characterized in that the urban pipeline disease diagnosis system according to claim 9 is employed, comprising the steps of:
the control unit (250) controls the walking unit (210) to walk in the inspection range of the urban pipeline according to a preset path;
the environment monitoring unit (230) acquires environment data in the inspection range;
the control unit (250) receives the environment data and judges whether the environment data meets the environment requirement of the data acquisition unit (220) during operation;
if yes, the control unit (250) controls the data acquisition unit (220) to acquire pipeline data in the inspection range, the pipeline data are transmitted to the disease diagnosis unit (100), and the disease diagnosis unit (100) processes the pipeline data to obtain pipeline disease types and grades;
if not, the control unit (250) controls the environment protection unit (240) to adjust the environment data in the inspection range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311043282.9A CN117212609A (en) | 2023-08-18 | 2023-08-18 | Urban pipeline inspection system, and disease diagnosis system and method |
Applications Claiming Priority (1)
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| CN117854012A (en) * | 2024-03-07 | 2024-04-09 | 成都智慧城市信息技术有限公司 | Crop environment monitoring method and system based on big data |
| CN117854012B (en) * | 2024-03-07 | 2024-05-14 | 成都智慧城市信息技术有限公司 | Crop environment monitoring method and system based on big data |
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