Detecting and tracking method with water surface unmanned boat for shallow water pipeline

An unmanned boat and pipeline technology, applied in two-dimensional position/channel control, vehicle position/route/height control, non-electric variable control, etc., can solve the problems of low efficiency and high cost of ROV detection pipeline, and achieve clear images. , the effect of easy identification

Inactive Publication Date: 2019-02-01
HARBIN ENG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to provide a detection and tracking method for surface unmanned boats for shallow water pipelines, which sol

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  • Detecting and tracking method with water surface unmanned boat for shallow water pipeline
  • Detecting and tracking method with water surface unmanned boat for shallow water pipeline
  • Detecting and tracking method with water surface unmanned boat for shallow water pipeline

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[0025] The specific embodiments of the present invention will be further described below in conjunction with the drawings:

[0026] 1. Step (1) The distortion correction process in the optical detection module at the position of the pipeline 10. The required distortion parameters are obtained by the calibration of the underwater camera 9. The distortion correction formula is

[0027]

[0028]

[0029] Where (u d ,v d ) Is the projection position of the spatial point on the image plane, r is the radial distance from the projection point to the center of the imaging plane, (u,v) is the position of the pixel after distortion correction. (u 0 ,v 0 ) Is the distortion center of the camera, k 1 ,k 2 ,k 3 Is the radial distortion coefficient, p 1 ,p 2 For the tangential distortion coefficient, these parameters belong to the internal parameters of the camera and need to be obtained through the camera calibration test.

[0030] 2. Step (1) The image denoising process in the optical detection...

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Abstract

The invention discloses a detecting and tracking method with a water surface unmanned boat for a shallow water pipeline, and belongs to the technical field of underwater pipeline inspection. The pipeline position optical detection module comprises an underwater camera, a carrying basket, a telescopic rod, a watertight cable, an embedded computer, and a power source, which for implementing pipelinevideo image acquisition, pipeline image processing, and pipeline positioning. The carrying basket is used to carry the underwater camera. The upper part of the carrying basket is connected with the telescopic rod to realize the distance adjustment between the underwater camera and the underwater pipeline. The main function of a deep water collision avoidance module is to obtain the depth information on the traffic path in advance. The underwater camera collision avoidance is achieved by changing the length of the telescopic rod. The system utilizes water surface unmanned boat for autonomous pipeline detection, which has fast detection speed and low cost, and can meet the needs of large-scale inspection of shallow sea oil pipelines. The pipeline position optical detection module uses improved image processing and targets to optimize the problem of high detection error rates for curved pipelines.

Description

technical field [0001] The invention belongs to the technical field of inspection of underwater pipelines, and in particular relates to a method for detecting and tracking an unmanned boat on the surface of shallow water pipelines. Background technique [0002] Submarine pipeline oil and gas transportation has the characteristics of stability, safety, environmental protection, low transportation cost, and less investment in the later stage. It is the most economical and reliable way for long-distance transportation of offshore oil and gas resources, and has played an important role in the development of offshore oil and gas resources. Submarine oil and gas pipelines can bring huge economic benefits, but there are also some potential safety hazards. Submarine pipelines have been scoured by ocean currents for a long time, and they are prone to overhangs. Suspended pipelines may experience fatigue fractures due to their own vibrations and environmental loads. Monitoring the da...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0206
Inventor 盛明伟刘奕晖万磊李岳明金巧园唐松奇
Owner HARBIN ENG UNIV
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