CN208805704U - A kind of pipe robot system based on machine vision and Acoustic detection - Google Patents
A kind of pipe robot system based on machine vision and Acoustic detection Download PDFInfo
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- CN208805704U CN208805704U CN201821617150.7U CN201821617150U CN208805704U CN 208805704 U CN208805704 U CN 208805704U CN 201821617150 U CN201821617150 U CN 201821617150U CN 208805704 U CN208805704 U CN 208805704U
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Abstract
The pipe robot system based on machine vision and Acoustic detection that the utility model discloses a kind of, including hydrophone, amplification filter module, A/D converter, camera module, odometer, microprocessor, memory module, wireless communication module, motor drive module, direct current generator, crawler motion module, holder module, LED illumination module, power module.Hydrophone acquires the acoustical signal inside pipeline；Acoustical signal is transferred to microprocessor processes after amplification filter module, A/D converter processing；Camera module acquires pipeline internal image signal；Odometer is for calculating distance；The memory module is used to save the tube environment information of pipe robot perception；The motor drive module, direct current generator motion module are for controlling pipe robot movement；The holder module changes the orientation of camera.The utility model is monitored leakage point using machine vision and Acoustic detection, has the features such as leak source recall rate is high, and False Rate is low, leak source accurate positioning.
Description
Technical field
The present invention relates to pipeline leakage detection systems, and more specifically, in particular to sound is based on machine vision and acoustics is examined
The pipe robot system of survey.
Background technique
Pipeline is widely applied in all trades and professions, and modern industry, agricultural and daily life all be unable to do without pipeline, pipeline
Transport have become the matter transportations such as petroleum, natural gas and domestic water it is important by way of one of, but often there is one for pipeline
A little internal flaws, in use, due to the effects of long-time is vibrated, weight, corrosion, pipeline can be damaged inevitably
It is bad, leakage etc. is generated, a large amount of economic loss and environmental pollution are caused.According to investigations, China's public supply mains are averaged leak rate
More than 15%, huge loss is brought.
It is found in investigation, current pipeline leakage detection robot has the following problems: first, the inspection to Leakage Pipes
Survey method is single, causes the positioning accuracy of leak source lower；Second, the motion mode of pipe robot is mostly passive type, Zhi Neng
It advances under the promotion of fluid, the leak detection demand of complex grid can not be handled.
Utility model content
For overcome the deficiencies in the prior art, the utility model provides a kind of pipeline based on machine vision and Acoustic detection
Robot system.
A kind of pipe robot system based on machine vision and Acoustic detection, including hydrophone, amplification filter module, A/
D converter, camera module, odometer, microprocessor, memory module, wireless communication module, motor drive module, direct current
Machine, crawler motion module, holder module, LED illumination module, power module；Sound letter inside the hydrophone acquisition pipeline
Number；Acoustical signal is transferred to microprocessor processes after amplification filter module, A/D converter processing；Camera module acquires pipeline
Microprocessor is transferred data to after internal image signal；Odometer be used to calculate pipe robot advances in the duct away from
From；The memory module is used to save the tube environment information of pipe robot perception；The wireless communication module and the end PC
It is communicated；Motor drive module, direct current generator and the crawler motion module is for controlling pipe robot movement；It is described
Holder module change camera module orientation；The LED illumination module provides illumination for camera module；Power module
Respectively to hydrophone, amplification filter module, A/D converter, camera module, odometer, microprocessor, memory module, wireless
Communication module, motor drive module, holder module, LED illumination module for power supply.
The microprocessor that the pipe robot uses is ARM11 processor.
The wireless communication module uses WIFI mode.
The pipe robot system uses standard interface, and reserving multiple interfaces seamless can extend, and passes to constitute
Sensor array improves leak source positioning accuracy.
The utility model has the beneficial effects that:
1, the method hunted leak based on machine vision and acoustics, leak source recall rate is high, and False Rate is low；The present invention is in conventional acoustic
It joined the leak hunting method based on machine vision on the basis of leak detection, can detect the leak source that conventional acoustic leak detection can not detect,
Recall rate is improved, while the leak source for the detection that can hunt leak again to acoustics further confirms that, reduces the False Rate of leak source.
2, pipeline leakage point positioning accuracy is high, can differentiate the shapes and sizes of leak source；The present invention uses high-precision odometer
And location algorithm, leak source position error are no more than 1 meter.
3, the environmental data of pipeline can be transmitted to PC and is further analyzed by module by wireless communication；
4, system low-power consumption works, and cruising ability is strong.The module that the present invention uses is low-power consumption module, being capable of single company
Continuous work 24 hours.
Detailed description of the invention
Utility model is further illustrated with reference to the accompanying drawings and examples:
Fig. 1 is a kind of pipe robot system block diagram based on machine vision and Acoustic detection,
In figure, 1. hydrophones, 2. amplifications/filter module, 3.A/D converter, 4. camera modules, 5. odometers, 6. is micro-
Processor, 7. memory modules, 8. wireless communication modules, 9. motor drive modules, 10. direct current generators, 11. crawler motion modules,
12. holder module, 13.LED lighting module, 14. power modules.
Specific embodiment
Referring to Fig.1, a kind of pipe robot system based on machine vision and Acoustic detection, including hydrophone 1, amplification filter
Wave module 2, A/D converter 3, camera module 4, odometer 5, microprocessor 6, memory module 7, wireless communication module 8, motor
Drive module 9, direct current generator 10, crawler motion module 11, holder module 12, LED illumination module 13, power module 14.Water is listened
Device 1 collects underwater sound signal, signal by put/big filter module 2 after be transferred in A/D converter 3 and carry out analog/digital conversion, the latter
Digital data transmission to microprocessor 6 is judged whether pipeline leaks, holder module 12 drives camera module 4 to suspicious leak source
It is shot, by image transmitting to microprocessor 6, while the exercise data of robot is transferred to microprocessor 6 by odometer 5,
Location data is provided for leak source.The environmental data of pipeline is stored in memory module 7 by microprocessor 6, and wireless communication module 8 will
The data of storage are sent to the end PC by WIFI mode and are further processed, and motor drive module 9 drives direct current generator 10
Operating, direct current generator 10 drive crawler motion module 11 to enable pipe robot free movement in the duct.Wherein, power module
14 respectively to hydrophone 1, amplification filter module 2, A/D converter 3, camera module 4, odometer 5, microprocessor 6, storage mould
Block 7, wireless communication module 8, motor drive module 9, holder module 12, LED illumination module 13 are powered.
Referring to Fig.1, wherein modules are the general module realized, as WHT23-TC-40 can be used in hydrophone 1
Deng；Lm358, OPA627AP etc. can be used in amplification filter module 2；PCF8591, ADC0804 etc. can be used in A/D converter 3；
OV5640 etc. can be used in camera module 4；TRD-2T1000BF etc. can be used in odometer 5；Microprocessor 6 can be used three
Star Exynos 8890, raspberry pie 3b+, STM32F407ZET6 etc.；AT45DB041, Micro SD card can be used in memory module 7
Module etc.；ATK-LORA-01, NRF24L01 etc. can be used in wireless communication module 8；Motor drive module 9 can be used
L298N, TB6612FNG etc.；GM37-3530 etc. can be used in direct current generator 10；Rubber shoe can be used in crawler motion module 11
Band, metal track etc.；Ronin-S holder, Smooth holder etc. can be used in holder module 12；LED illumination module 13 can make
With light emitting diode matrix etc.；Power module 14 can provide the power supply etc. of 3.3V by lithium battery and AMS1117 pressure stabilizing；
The utility model has the following steps to the leak source localization method of pipeline:
Step1: hydrophone 1 acquires the underwater sound signal in pipeline, converts at 3 to underwater sound signal by amplification filtering 2, A/D
After reason, microprocessor 6 is transmitted a signal to；
Step2: 5 data of odometer are transmitted to microprocessor 6, and leakage dot position information is obtained after settling accounts；
Step3: the collected underwater sound signal of 6 on-line analysis of microprocessor, it is determined whether there are suspicious leak sources, and if it exists,
Then enter next step Step4；If not depositing, Step1 execution is skipped to；
Step4: camera module 4 further shoots suspicious leak source in conjunction with LED illumination module 13, will shoot image transmitting
To microprocessor 6；
Step5: microprocessor 6 by using machine vision technique analyze image, determine whether the leak source is true leak source,
If it does not exist, then Step1 is skipped to；If it exists, then enter next step Step6；
Step6: while storing acoustical signal processing result, image analysis result, location information data to memory module 7
In, off-line data is sent to PC machine using wireless transport module 8 and is further analyzed.
The course of work of the present invention is as follows, starts pipe robot, is put it into pipeline using delivery device, pipeline machine
People's autokinetic movement in the duct, by pipeline environment monitoring information and leak source information preservation to memory module.It is transported to pipe robot
Row is to pipeline terminal, and module sends data to the end PC and check and further analyze by wireless communication after being drawn off.
Claims (4)
1. a kind of pipe robot system based on machine vision and Acoustic detection, it is characterised in that: including hydrophone (1), put
Big filter module (2), A/D converter (3), camera module (4), odometer (5), microprocessor (6), memory module (7), nothing
Line communication module (8), motor drive module (9), direct current generator (10), crawler motion module (11), holder module (12), LED
Lighting module (13), power module (14)；Acoustical signal inside hydrophone (1) the acquisition pipeline；Acoustical signal is filtered through amplification
Microprocessor (6) processing is transferred to after wave module (2), A/D converter (3) processing；Camera module (4) acquires pipeline interior view
As transferring data to microprocessor (6) after signal；Odometer (5) be used to calculate pipe robot advances in the duct away from
From；The memory module (7) is used to save the tube environment information of pipe robot perception；The wireless communication module (8)
It is communicated with the end PC；Motor drive module (9), direct current generator (10) and the crawler motion module (11) is for controlling pipe
Pipeline robot movement；The holder module (12) changes the orientation of camera module (4)；The LED illumination module (13)
Illumination is provided for camera module；Power module (14) is respectively to hydrophone (1), amplification filter module (2), A/D converter
(3), camera module (4), odometer (5), microprocessor (6), memory module (7), wireless communication module (8), motor driven
Module (9), holder module (12), LED illumination module (13) power supply.
2. the pipe robot system according to claim 1 based on machine vision and Acoustic detection, it is characterised in that: institute
The microprocessor that pipe robot uses is stated as ARM11 processor.
3. the pipe robot system according to claim 1 based on machine vision and Acoustic detection, it is characterised in that: institute
Wireless communication module (8) are stated using WIFI mode.
4. the pipe robot system according to claim 1 based on machine vision and Acoustic detection, it is characterised in that: institute
Pipe robot system is stated using standard interface, reserving multiple interfaces seamless can extend, and mention to constitute sensor array
High leak source positioning accuracy.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821617150.7U CN208805704U (en) | 2018-09-30 | 2018-09-30 | A kind of pipe robot system based on machine vision and Acoustic detection |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821617150.7U CN208805704U (en) | 2018-09-30 | 2018-09-30 | A kind of pipe robot system based on machine vision and Acoustic detection |
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| CN208805704U true CN208805704U (en) | 2019-04-30 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112476430A (en) * | 2020-10-21 | 2021-03-12 | 河南科技学院 | Umbrella-shaped robot control system for pipeline detection |
| CN113007615A (en) * | 2021-03-16 | 2021-06-22 | 中铁第四勘察设计院集团有限公司 | Quick leak detection system for railway water supply pipe network |
| CN113154266A (en) * | 2020-12-28 | 2021-07-23 | 浙江大学 | Active leak detection pipeline device based on flexible sensor and active leak detection method |
-
2018
- 2018-09-30 CN CN201821617150.7U patent/CN208805704U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112476430A (en) * | 2020-10-21 | 2021-03-12 | 河南科技学院 | Umbrella-shaped robot control system for pipeline detection |
| CN113154266A (en) * | 2020-12-28 | 2021-07-23 | 浙江大学 | Active leak detection pipeline device based on flexible sensor and active leak detection method |
| CN113007615A (en) * | 2021-03-16 | 2021-06-22 | 中铁第四勘察设计院集团有限公司 | Quick leak detection system for railway water supply pipe network |
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