Method and device for polling underwater lines based on light vision sensing

A light vision and pipeline technology, applied in the pipeline system, gas/liquid distribution and storage, mechanical equipment, etc., can solve the problems that affect the range of activities, cannot effectively realize underwater pipeline detection, etc., and achieve the effect of improving image quality

Inactive Publication Date: 2010-09-15
中国船舶重工集团公司第七〇二研究所
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On the other hand, the ROV umbilical cable will seriously affect its range of activities, so it

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  • Method and device for polling underwater lines based on light vision sensing
  • Method and device for polling underwater lines based on light vision sensing
  • Method and device for polling underwater lines based on light vision sensing

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Embodiment Construction

[0044] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0045] Such as figure 1 As shown, the underwater pipeline inspection device based on light vision of the present invention includes an underwater light vision processing computer 1, and an underwater lighting lamp 2 connected to the underwater light vision processing computer 1, an image acquisition card 3 and an underwater camera 4. The image acquisition card 3 is connected with the underwater camera 4 .

[0046] The underwater pipeline inspection method based on light vision of the present invention comprises the following steps:

[0047] (1) Gather video signals to obtain underwater video digital images.

[0048] The underwater lighting lamp 2 illuminates the underwater target 5, the underwater camera 4 shoots the underwater target 5, and transmits the video signal to the image acquisition card 3, and the image acquisition card 3 receiv...

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Abstract

The invention provides a method for polling underwater lines based on light vision sensing, comprising the following steps: collecting video signals to acquire underwater video digital images: pre-processing images, and removing noises by a median filter algorithm so as to improve image quality; performing edge detection to obtain lines from a plurality of images; performing linear detection and screening lines possible to be the edge lines of the underwater lines; searching line pairs formed by side lines at the two sides of pipelines from all straight lines; and modeling in tri-dimensional environment and computing. The invention also provides a polling device for realizing the above method. The invention can automatically identify underwater lines and compute line positions and orientations according to the video information acquired by an underwater camera, and can lead a non-cable autonomous underwater robot to trace the pipeline and poll in a long distance so as to replace manual remote control driving.

Description

technical field [0001] The invention relates to the fields of ocean engineering and offshore oil development, in particular to an inspection method and an inspection device for submarine water oil and gas pipelines and underwater optical cables. Background technique [0002] Underwater pipelines are often constructed to meet the needs of energy and communication transmission, including various pipeline forms such as water supply pipes, oil and gas transportation pipelines, and optical cables. Underwater pipelines, especially submarine pipelines, are generally designed and constructed according to the highest standards during the designed service life. However, during this period, due to the influence of design, manufacturing process, construction and service environment, there will inevitably be damage and damage. Especially under the influence of strong hydrodynamic factors, unstable seabed conditions and external human factors, once accidents such as pipeline damage, oil ...

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Application Information

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IPC IPC(8): F17D5/02
Inventor 徐鹏飞胡震王磊
Owner 中国船舶重工集团公司第七〇二研究所
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