CN219319317U - Pipeline pressure detection equipment based on binocular vision - Google Patents
Pipeline pressure detection equipment based on binocular vision Download PDFInfo
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- CN219319317U CN219319317U CN202320246463.0U CN202320246463U CN219319317U CN 219319317 U CN219319317 U CN 219319317U CN 202320246463 U CN202320246463 U CN 202320246463U CN 219319317 U CN219319317 U CN 219319317U
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Abstract
The utility model discloses a binocular vision-based pipeline pressure detection device, and relates to the technical field of detection devices. Wherein, this pipeline area pressure check out test set based on binocular vision includes: a first housing; the second shell is connected with the first shell; the pushing part is fixedly arranged at one end of the second shell and is far away from one side of the first shell; the visual detection sensor is arranged in the first shell and extends to the inside of the second shell; the illumination part is annularly arranged at one end of the first shell and is far away from one side of the second shell; and the controller is arranged in the second shell. The utility model solves the problems that in the urban pipeline pressure detection process, the positioning of a robot is usually determined according to the length of an umbilical cable and the known pipeline shape, the position of the robot is usually calculated by using the length of the central line of the pipeline, but in the actual detection process, the umbilical cable towed by the robot is not usually positioned on the central line of the pipeline, so that the positioning error is caused.
Description
Technical Field
The utility model relates to the technical field of detection equipment, in particular to binocular vision-based pipeline pressure detection equipment.
Background
The existing urban pipeline under-pressure detection positioning equipment is mainly used for positioning depending on the length of an umbilical cable carried by the detection equipment, the trend and the length of the detected pipeline are required to be known in advance in the positioning mode, and the position of the detection equipment is estimated according to the length of the applied umbilical cable. The overall positioning accuracy obtained by the positioning mode is low, certain errors can be formed every time the pipeline turns, the accumulated errors in the complex pipe network are large, the damaged position of the pipeline and the position of the robot cannot be accurately positioned, and certain influence is caused for the accurate fault elimination in the later period. In addition, the relative distance between the detection equipment body and the target object in the pipeline is hardly considered, and because the traditional detection equipment for pipeline detection is carried out by means of the thrust of water, the relative position does not need to be judged and autonomous movement is carried out.
Aiming at the problems that in the prior art, in the urban pipeline pressure detection process, the positioning of a robot is usually determined according to the length of an umbilical cable and the shape of a known pipeline, the position of the robot is usually calculated by using the length of the central line of the pipeline, but in the actual detection process, the umbilical cable dragged by the robot is not on the central line of the pipeline, so that the positioning error is caused, the pipeline is usually deep, the subsequent maintenance requires a large amount of excavation engineering, a large amount of manpower and material resources are required to be consumed, the positioning inaccuracy can cause certain trouble to the subsequent pipeline maintenance, and the relative position of the robot and the front target object can not be known in the positioning mode for the detection equipment, so that the robot collides with the target object, damage is caused to the robot body, and the equipment failure and even the detection task failure are caused. In view of the above-mentioned problems, no effective solution has been proposed yet.
Disclosure of Invention
The utility model aims to: a binocular vision-based pipeline pressure detection device is provided to solve the problems in the prior art.
The technical scheme is as follows: a binocular vision-based pipe pressure detection device, comprising:
a first housing;
the second shell is connected with the first shell;
the pushing part is fixedly arranged at one end of the second shell and is far away from one side of the first shell;
the visual detection sensor is arranged inside the first shell and extends to the inside of the second shell;
the illumination part is annularly arranged at one end of the first shell and is far away from one side of the second shell; a kind of electronic device with high-pressure air-conditioning system
The controller is arranged in the second shell and is electrically connected with the propelling part, the visual detection sensor and the illumination part respectively;
and detecting the position information of the equipment through the visual detection sensor, feeding back the position information to the controller, and sending a control signal by the controller to control the action of the pushing part so as to enable the equipment to accurately run.
Preferably, the first housing and the second housing have a cylindrical shape.
Preferably, the first housing and the second housing are detachably connected.
Preferably, a sealing part is arranged at the junction of the first shell and the second shell.
Preferably, the propelling part includes: the conical propeller comprises a conical propeller body, wherein a base is arranged on the conical propeller body, and a propeller is arranged on the base.
Preferably, the propellers are vector propellers, including but not limited to a vector propeller group of three propellers.
Preferably, the vector thruster is provided on the base, but is not limited to the base.
Preferably, the visual detection sensor adopts a binocular camera.
Preferably, the illumination portion adopts an LED lamp ring or other optical illumination device.
Preferably, the number of the LED lamp rings or other optical lighting devices is at least one, and the LED lamp rings or other optical lighting devices are circumferentially arranged on the lighting part.
The beneficial effects are that: in this application embodiment, adopt visual detection's mode, through visual detection sensor detects equipment position information, and with position information feedback to the controller, the controller sends control signal control the action of propulsion portion, so that equipment is accurate operation, the purpose of accurate detection in equipment position has been reached, thereby improve maintenance efficiency and save manpower, financial resources's technical effect has been realized, and then in urban pipeline pressurized detection process, the location of robot is usually confirmed according to the length of umbilical cable and known pipeline shape, the position of robot is usually calculated with the length of pipeline central line, but in actual detection process, the umbilical cable that the robot draged is usually not on the central line of pipeline, so can cause the error of location, because the pipeline is usually buried deeply, follow-up maintenance needs great excavation engineering volume, need consume a large amount of manpower and material resources, so the location inaccuracy can cause certain trouble for follow-up pipeline maintenance, and for detecting equipment itself, such locate mode can't learn the relative position of robot and place ahead target object and the robot produce the collision problem that the robot leads to the fact the failure to the robot to result in the robot to the collision to the target body to the failure to detect the task.
Drawings
FIG. 1 is a schematic view of an isometric structure of a binocular vision-based pipeline pressure detection apparatus of the present utility model;
FIG. 2 is a front view of the binocular vision-based pipe pressure sensing apparatus of the present utility model;
fig. 3 is a schematic diagram of the internal structure of the binocular vision-based pipe pressure detecting apparatus of the present utility model.
The reference numerals are: 1. a first housing; 2. a second housing; 3. a propulsion section; 4. a visual detection sensor; 5. an illumination section; 6. a conical paddle body; 7. a base; 8. a propeller.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the present application described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Furthermore, the terms "mounted," "configured," "provided," "connected," "coupled," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1-3, the present application relates to a binocular vision-based pipe pressure detection device. This pipeline area pressure check out test set based on binocular vision includes: a first housing 1; the first casing 1 is a front-end casing, and can achieve excellent protection and mounting effects of other components. Preferably, the first shell 1 is made of acrylic. Sufficient structural strength can be ensured while weight can be reduced, thereby facilitating the operation of the apparatus. A second housing 2 connected to the first housing 1; the second housing 2 refers to a rear housing, i.e. a main body section of the device, in which various components are arranged, capable of achieving the effects of various functions; simultaneously, the first shell 1 and the second shell 2 are fixedly connected in a sealing way, so that a good shell sealing connection effect can be realized.
A pushing part 3 fixedly arranged at one end of the second housing 2 and far away from the first housing 1; good propulsion effect can be realized, so that the effect of stably pushing equipment to run is realized. A visual detection sensor 4 provided inside the first casing 1 and extending into the second casing 2; good visual detection effect can be realized, so that good data acquisition effect is realized, and further guarantee is provided for subsequent accurate position feedback. An illumination part 5 which is annularly arranged at one end of the first shell 1 and is far away from one side of the second shell 2; a good lighting effect can be achieved, thereby ensuring a good photographing effect.
The controller is arranged inside the second shell 2 and is electrically connected with the pushing part 3, the visual detection sensor 4 and the illumination part 5 respectively; good electrical control effects can be achieved, and therefore coordination control effects among the components are achieved.
The visual detection sensor 4 is used for detecting the position information of the equipment and feeding back the position information to the controller, and the controller sends out a control signal to control the action of the pushing part 3 so as to enable the equipment to accurately run. Good detection, feedback and control effects can be realized, so that accurate equipment positioning effects are realized.
Specifically, a unified coordinate system, namely a world coordinate system, is established based on the pipeline drawing obtained before detection. The world coordinate system, the coordinate system taking the robot as the center and the coordinate conversion relation between the two coordinate systems are defined.
The head of the detection device, namely the first shell 1, needs to be provided with a binocular camera and a light source, when the robot enters a pipeline with pressure for detection, the camera can identify and range markers in the pipeline, after the camera finishes ranging, the relative distance between the robot and objects in front (the objects usually comprise butterfly valves, ball valves, elbows, three-way joints and the like) is obtained, and absolute coordinate information of the objects can be obtained through a priori drawing, namely the absolute positions of the objects in a world coordinate system are usually known, so the absolute positions of the detection device are also known.
If a fault or foreign object in the pipeline is identified, the absolute position of the fault or foreign object can be determined by the absolute position of the fault or foreign object and the visually identified relative distance, so that more accurate information is provided for subsequent maintenance.
The detection equipment is provided with a power system, and can adjust the motion state of the detection equipment according to the target object and the self relative position information acquired by the binocular vision camera, so as to avoid collision risks.
The utility model can ensure that the detection equipment can obtain higher positioning precision in the urban pipeline pressure detection process, reduce the overhaul difficulty and the cost of manpower and material resources, and improve the overhaul efficiency.
The detection equipment is provided with a self-driving power system, can directly move and turn, and the valve passing and turning movement in the pipeline need to be adjusted in response to the power system, so that the accurate positioning system can effectively help the power system to adjust in advance.
And (3) establishing a coordinate system: acquiring a construction drawing of a pipeline to be detected, and establishing a world coordinate system according to the construction drawing;
the device applies: the detection equipment is put into a pipeline to be detected;
and (3) pipeline detection: detecting the movement of the equipment in the pipeline, and simultaneously acquiring image information inside the pipeline by using a binocular camera at the head of the equipment;
target positioning: according to the detected target and prior information in the construction drawing, the positioning of the fixed target in the pipeline is obtained, and the absolute position of the detection equipment is determined;
fault location: after the binocular camera detects the fault, determining the absolute position of the fault, namely the coordinate of the fault in a world coordinate system according to the absolute position of the binocular camera and the relative position between the binocular camera and the fault;
motion of the device: after detecting an obstacle (a valve and an elbow), the binocular camera formulates a motion strategy according to the distance between the monitoring equipment and the obstacle, and starts a vector power system in advance to avoid collision with the obstacle, a pipeline wall and the like;
and (3) equipment recovery: after the detection task is completed, the equipment is recovered.
From the above description, it can be seen that the following technical effects are achieved:
in this embodiment of the present application, a visual detection manner is adopted, the visual detection sensor 4 is used to detect the position information of the device, and the position information is fed back to the controller, the controller sends a control signal to control the propulsion portion 3 to act, so that the device is accurately operated, and the purpose of accurate detection of the device position is achieved, thereby the technical effects of improving the maintenance efficiency and saving manpower and financial resources are achieved, and further, the problem that in the urban pipeline under-pressure detection process, the positioning of the robot is usually determined according to the length of the umbilical cable and the known pipeline shape, the position of the robot is usually calculated by using the length of the central line of the pipeline, but in the actual detection process, the umbilical cable towed by the robot is not usually located on the central line of the pipeline, so that the positioning error is caused, because the pipeline is usually buried deep, the subsequent maintenance needs a large amount of excavation engineering, and a large amount of manpower and material resources are consumed, the positioning inaccuracy can cause a certain trouble to the subsequent pipeline maintenance, and for the detection device itself, the positioning manner cannot be known, the relative position of the robot and the front object can not collide with the umbilical cable, and the object can cause failure to the robot, and the problem of the robot failure to the detection result in the robot.
Further, the first housing 1 and the second housing 2 have a cylindrical shape. The shell is cylindrical, so that the shell can conveniently run in a pipeline, and interference can be avoided.
Further, the first housing 1 and the second housing 2 are detachably connected. The effect of being convenient for dismouting can be realized to the effect of being convenient for install other parts. Further, a sealing part is arranged at the junction of the first casing 1 and the second casing 2. Good sealing effect can be realized, so that the water inlet condition is avoided.
Further, the pushing unit 3 includes: the conical propeller body 6, be provided with base 7 on the conical propeller body 6, be provided with propeller 8 on the base 7. The device can achieve good propulsion effect, thereby ensuring the effect of normal operation of the device in the pipeline and further achieving good detection effect. Still further, the propellers 8 are vector propellers, the number of which includes, but is not limited to, three propellers forming a vector propeller group. The propeller 8 may be another type of vector propeller. Good vector propulsion effect can be realized, so that high-precision propulsion effect is realized, and further, accurate equipment position control effect is realized, and meanwhile, the method is easy to realize and convenient to operate. Preferably, the vector pusher is provided on the base 7, but is not limited to the base. The stable propulsion effect can be ensured, thereby realizing the propulsion effect of the equipment.
Further, the visual detection sensor 4 adopts a binocular camera. The accurate image acquisition effect can be realized, so that the good real-time acquisition effect is realized.
Further, the illumination part 5 adopts an LED lamp ring or other optical illumination devices. A good lighting effect can be achieved, thereby providing a good lighting environment. Further, the number of the LED lamp rings or other optical lighting devices is at least one, and the LED lamp rings or other optical lighting devices are circumferentially arranged on the lighting part. A good lighting effect can be ensured. Preferably, the illumination portion may be a small-sized optical illumination device, and the number may be one or more depending on the use condition.
The utility model has the following beneficial effects:
compared with the existing detection equipment, the positioning method of the equipment has higher accuracy, can greatly improve the efficiency of subsequent pipeline maintenance, and reduces the labor time and labor intensity of maintenance personnel; the positioning method can provide necessary relative position information for motion control of the detection equipment, so that the motion of the detection equipment in the pipeline can be more flexible, and the loss possibly caused by collision is reduced.
The preferred embodiments of the present utility model have been described in detail above with reference to the accompanying drawings, but the present utility model is not limited to the specific details of the above embodiments, and various equivalent changes can be made to the technical solutions of the present utility model within the scope of the technical concept of the present utility model, and these equivalent changes all fall within the scope of the present utility model.
Claims (10)
1. Pipeline area pressure check out test set based on binocular vision, its characterized in that includes:
a first housing;
the second shell is connected with the first shell;
the pushing part is fixedly arranged at one end of the second shell and is far away from one side of the first shell;
the visual detection sensor is arranged inside the first shell and extends to the inside of the second shell;
the illumination part is annularly arranged at one end of the first shell and is far away from one side of the second shell; a kind of electronic device with high-pressure air-conditioning system
The controller is arranged in the second shell and is electrically connected with the propelling part, the visual detection sensor and the illumination part respectively;
and detecting the position information of the equipment through the visual detection sensor, feeding back the position information to the controller, and sending a control signal by the controller to control the action of the pushing part so as to enable the equipment to accurately run.
2. The binocular vision-based pipe pressure sensing apparatus of claim 1, wherein the first housing and the second housing are cylindrical.
3. The binocular vision-based pipe pressure sensing apparatus of claim 1, wherein the first housing and the second housing are detachably connected.
4. The binocular vision-based pipe pressure detecting apparatus of claim 1, wherein a sealing portion is provided at a junction of the first housing and the second housing.
5. The binocular vision-based pipe pressure detection apparatus of claim 1, wherein the propelling part comprises: the conical propeller comprises a conical propeller body, wherein a base is arranged on the conical propeller body, and a propeller is arranged on the base.
6. The binocular vision based pipe pressure sensing apparatus of claim 5, wherein the thrusters are vector thrusters including, but not limited to, a vector thruster group of three thrusters.
7. The binocular vision based pipe pressure sensing apparatus of claim 6, wherein the vector mover is provided to the base, but not limited to the base.
8. The binocular vision-based pipe pressure detection apparatus of claim 1, wherein the vision detection sensor employs a binocular camera.
9. The binocular vision-based pipeline pressure detection apparatus of claim 1, wherein the illumination portion employs an LED lamp ring or other optical illumination device.
10. The binocular vision-based duct pressure detection apparatus of claim 9, wherein the number of the LED lamp rings or other optical illumination apparatuses is at least one, and the LED lamp rings or other optical illumination apparatuses are circumferentially disposed at the illumination portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320246463.0U CN219319317U (en) | 2023-02-17 | 2023-02-17 | Pipeline pressure detection equipment based on binocular vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320246463.0U CN219319317U (en) | 2023-02-17 | 2023-02-17 | Pipeline pressure detection equipment based on binocular vision |
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| Publication Number | Publication Date |
|---|---|
| CN219319317U true CN219319317U (en) | 2023-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320246463.0U Active CN219319317U (en) | 2023-02-17 | 2023-02-17 | Pipeline pressure detection equipment based on binocular vision |
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|---|---|
| CN (1) | CN219319317U (en) |
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- 2023-02-17 CN CN202320246463.0U patent/CN219319317U/en active Active
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