Underground pipeline detection robot detection system and detection method

Abstract

The invention discloses an underground pipeline detection robot system based on visual saliency perception, which consists of two parts, namely intelligent small pipeline robot hardware and obstacle target intelligent detection software, and is characterized in that the hardware comprises a built-in control module fixed in a pipeline robot; the stepping motors are fixed to the two sides of the pipeline robot body. The encoding wheel is connected with the power wheel, and an encoder is connected to the encoding wheel; the conductive slip ring is connected with the stepping motor; the wire transmits data to an external image processing unit through the conductive slip ring; the camera is fixed on the front side of the pipeline robot, captures an internal image of the pipeline and transmits the image to the external image processing unit; a mechanical arm is connected with a stepping motor and a power wheel, an external image processing unit analyzes captured underground pipeline internal images, constructs a graph model and a variational significance model according to a superpixel segmentation result, iteratively solves the variational significance model until energy is converged, obtains an optimal solution, and obtains an optimal solution according to a human eye visual attention mechanism. And detection of abnormal targets in the pipeline is realized.

Description

technical field [0001] The invention relates to an underground pipeline detection robot detection system and detection method, belonging to the technical fields of digital image processing and underground pipeline detection. Background technique [0002] With the improvement of people's quality of life, people's requirements for the urban environment have also increased. On the one hand, with the increase of the service time of drainage pipes, there are many problems of degradation and defects in the pipes, which have a great impact on the lives of residents. On the other hand, obstacles or blockages in the underground pipelines of urban residents will lead to difficulties in drainage and water accumulation. Therefore, the detection and maintenance of underground pipelines is very important to the urban environment. [0003] However, the traditional manual inspection and maintenance method is inefficient, not only time-consuming and labor-intensive, but also highly dangerou...

AI Technical Summary

Problems solved by technology

[0003] However, the traditional manual inspection and maintenance method is inefficient, not only time-consuming and labor-intensive, but also highly dangerous

Although there have been many high-tech, mechanized, and non-excavation repair methods for underground pipeline inspection, there are problems such as low automation, low work efficiency, and heavy reliance on manual experience.

The existing pipeline robot has the disadvantage of large size, which greatly restricts its application range. Although it has the function of obstacle detection, it cannot achieve real-time positioning of the pipeline robot in a narrow space, and it needs to rely on manual experience control

Therefore, a small underground pipeline detection system with both detection and positioning functions is an effective means to solve the problems of the existing underground pipeline detection automation degree is not high, the detection field is low in efficiency, and relies heavily on manual experience.

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