Underground pipeline measurement and three-dimensional modeling analysis method, device and medium based on drone

Abstract

The present application relates to the field of drones, and in particular to a method, device and medium for measuring and three-dimensional modeling analysis of underground pipelines based on drones, including: obtaining initial pipeline information of underground pipelines, and determining the ultrasonic penetration frequency standard of underground pipelines based on the initial pipeline information; obtaining current ultrasonic information, and determining whether the ultrasonic information meets the ultrasonic penetration frequency standard; if it does, calculating the time difference information of sending and receiving the ultrasonic information, and determining the distance information between the drone and the underground pipeline according to the time difference information of sending and receiving; obtaining the current position information of the drone, combining the distance information and the position information to generate the three-dimensional model image information of the underground pipeline; and controlling the display of the three-dimensional model image information of the underground pipeline. The present application has the effect of improving the measurement efficiency of underground pipeline measurement.

Description

Technical Field

[0001] The present application relates to the technical field of drones, and in particular to a method, device and medium for underground pipeline measurement and three-dimensional modeling analysis based on drones. Background Art

[0002] Underground pipelines refer to pipes and cables buried underground, mainly including: water supply, drainage, gas, heat, industrial pipelines, electricity, telecommunication cables, etc.

[0003] Underground pipeline surveying is the surveying work carried out for the planning, design, construction, operation and maintenance of various underground pipelines and their ancillary facilities. Therefore, underground pipeline surveying is generally divided into surveying of new underground pipeline projects and exploratory surveying of existing underground pipelines. Among them, exploratory surveying of existing underground pipelines is the surveying work to determine the spatial position and attributes of underground pipelines. Its purpose is to find out the plane position, buried depth (or elevation) and direction of existing underground pipelines. The nature of its work is to remedy the missing completion measurement of underground pipeline projects.

[0004] The mainstream measuring instruments for underground pipeline location detection on the market include electromagnetic pipeline detectors. Electromagnetic pipeline detectors use the principle of electromagnetic induction to detect metal pipelines, electric / optical cables, and some non-metallic pipelines with metal marking lines. For non-metallic pipelines, this type of instrument needs to insert a probe with electromagnetic signals into the pipeline, and determine the corresponding position of the pipeline by determining the position of the probe. However, electromagnetic pipeline detectors are easily interfered by electromagnetic fields during measurement and cannot fully monitor underground pipelines, resulting in low underground pipeline measurement efficiency. Summary of the invention

[0005] In order to improve the measurement efficiency of underground pipeline measurement, the present application provides an underground pipeline measurement and three-dimensional modeling analysis method, device and medium based on drone.

[0006] In the first aspect, the present application provides a method for underground pipeline measurement and three-dimensional modeling analysis based on drones, which adopts the following technical solutions:

[0007] Acquire initial pipeline information of the underground pipeline, and determine the ultrasonic penetration frequency standard of the underground pipeline based on the initial pipeline information;

[0008] Acquire current ultrasonic information, and determine whether the ultrasonic information meets the ultrasonic penetration frequency standard;

[0009] If the conditions are met, the time difference between sending and receiving the ultrasonic information is calculated, and the distance between the drone and the underground pipeline is determined according to the time difference between sending and receiving the ultrasonic information;

[0010] Acquire the current position information of the drone, and generate the three-dimensional model image information of the underground pipeline in combination with the distance information and the position information;

[0011] Controlling the display of the underground pipeline three-dimensional model image information.

[0012] By adopting the above technical solution, when measuring underground pipelines, the staff retrieves and queries the initial pipeline information of the current pipeline, such as the material, thickness, size, etc. of the current underground pipeline, and then calculates and obtains the ultrasonic penetration frequency standard of the underground pipeline based on the initial pipeline information. The staff adjusts the ultrasonic information of the ultrasonic detector based on the ultrasonic penetration frequency standard to determine that the current ultrasonic information meets the ultrasonic penetration frequency standard, and then calculates the time difference information of sending and receiving the ultrasonic information, and obtains the distance information between the current drone and the underground pipeline based on the time difference information of sending and receiving. Finally, the current position of the drone is located to obtain the current position information of the drone. By processing the drone position information and distance information, the three-dimensional model image information of the underground pipeline is generated, and the three-dimensional model image information of the underground pipeline is displayed, so that the staff can comprehensively monitor the underground pipeline, thereby achieving the effect of improving the measurement efficiency of the underground pipeline.

[0013] In another possible implementation, the calculating the time difference information of sending and receiving the ultrasonic information includes:

[0014] When a trigger signal is detected, the current ultrasonic emission time information and the ultrasonic reception time information reflected by the underground pipeline of the same batch as the ultrasonic emission time information are obtained;

[0015] The ultrasonic transmission and reception time difference information is calculated based on the ultrasonic transmission time information and the ultrasonic reception time information.

[0016] Through the above technical scheme, when the ultrasonic detector currently transmits ultrasonic waves to the underground pipeline, the current ultrasonic transmission time information is recorded. At the same time, when the ultrasonic detector receives ultrasonic waves reflected by the underground pipeline, the current ultrasonic reception time information is obtained. The ultrasonic reception time information and the ultrasonic transmission time information are calculated to obtain the receiving and sending time difference information, so as to facilitate the subsequent acquisition of the distance between the drone and the underground pipeline based on the receiving and sending time difference information.

[0017] In another possible implementation, the ultrasonic wave transmitting and receiving time difference information is calculated based on the ultrasonic wave transmitting time information and the ultrasonic wave receiving time information, and then the method further includes:

[0018] According to the location information of the drone, a preset sending and receiving time difference range information of the ultrasonic information is created;

[0019] Determine whether the current sending and receiving time difference information meets the preset sending and receiving time difference range information;

[0020] If not, the location information is marked and the alarm device is controlled to output an alarm signal in a preset manner;

[0021] The preset mode includes at least one of the following: a sound output mode and a light output mode.

[0022] By adopting the above technical solution, when obtaining the ultrasonic transmission and reception time difference information, the transmission and reception time difference information is compared and matched with the preset transmission and reception time difference range information to determine whether the transmission and reception time difference information meets the preset condition requirements. When the transmission and reception time difference information does not meet the requirements, it means that the underground pipeline is missing or damaged, and the current drone position is located and marked, and the alarm device is controlled to respond and output, so as to remind the staff to maintain the underground pipeline in time.

[0023] In another possible implementation manner, the obtaining the current location information of the drone further includes:

[0024] Based on the position information of the current drone, the real-time position information is analyzed to obtain real-time altitude data;

[0025] Analyze the ultrasonic information to determine signal sending and receiving distance data of the ultrasonic information;

[0026] Determining whether the real-time altitude data exceeds the signal receiving and transmitting distance data;

[0027] If it exceeds, a high warning message is generated and the high warning message is displayed.

[0028] By adopting the above technical solution, the location of the UAV is detected through satellite positioning technology to determine the current real-time location information of the UAV, and then the location information is calculated and analyzed to obtain the real-time altitude data of the UAV, and the ultrasonic information emitted by the ultrasonic detector is analyzed to obtain the ultrasonic signal receiving and sending distance data, and to determine whether the real-time altitude data exceeds the signal receiving and sending distance data. If exceeded, an altitude warning message is generated to warn the staff to lower the flight altitude of the UAV.

[0029] Another possible implementation method also includes:

[0030] Detect the real-time power information of the current drone, analyze the real-time power information, and obtain real-time power data;

[0031] Determine whether the real-time power data exceeds the power protection threshold of the drone;

[0032] If it exceeds, the real-time power data is marked;

[0033] Controls the display of real-time power data after annotation.

[0034] By adopting the above technical solution, the power of the drone is detected, the real-time power information of the drone during flight is determined, and then the real-time power information is calculated and analyzed to obtain the real-time power data of the drone, and determine whether the real-time power data exceeds the power protection threshold of the drone. If exceeded, the real-time power data of the current drone is marked and processed, and the marked real-time power data is controlled and displayed at the same time, so as to warn the staff that the current drone is low on power.

[0035] In another possible implementation, the generating of underground pipeline three-dimensional model image information by combining the distance information and the location information further includes:

[0036] The underground pipeline three-dimensional model image information is subjected to denoising processing, and the denoised underground pipeline three-dimensional model image information is subjected to image enhancement processing.

[0037] By adopting the above technical solution, after producing the underground pipeline three-dimensional model image information, since the actual underground pipeline three-dimensional model image is often affected by the imaging equipment and the external environment noise interference during the digitization and transmission process, it is necessary to use denoising technology to denoise the image information in order to reduce the noise in the digital image and make the image information more accurate. Then, the denoised image information is enhanced to improve the visual effect of the image information, making the image clearer, thereby achieving the effect of improving the recognition of the underground pipeline three-dimensional model image.

[0038] Another possible implementation method also includes:

[0039] Obtaining the communication route of the current drone, and detecting the communication route to determine the communication status of the communication route;

[0040] When it is detected that the communication condition has signal fluctuations, an alternative communication route is acquired, and the alternative communication route is tested to determine whether the alternative communication condition of the alternative communication route meets the current communication demand;

[0041] If satisfied, the communication of the current UAV is switched from the communication route to the backup communication route;

[0042] If not, communication abnormality information is generated and the display of the communication abnormality information is controlled.

[0043] By adopting the above technical solution, when the ground staff conducts data communication with the drone in the air, the drone sends information to the ground transceiver through the signal transmitter. However, as the flight distance between the drone and the ground staff increases, the connection between the transmitter in the drone and the ground transceiver fluctuates, which causes the current communication route to be abnormal. Therefore, a backup communication line is set, and the backup communication line is switched to when an abnormality occurs in the communication route. Among them, the backup communication line: the transmitter conducts 4G / 5G communication with the satellite through a router. After the satellite receives the data, it sends the data to the ground. At the same time, the backup communication line is detected to ensure that the communication line communicates normally. If an abnormality occurs, communication abnormality information is generated and the display of communication abnormality information is controlled.

[0044] In the second aspect, the present application provides an underground pipeline measurement and three-dimensional modeling analysis device based on a drone, which adopts the following technical solution:

[0045] An underground pipeline measurement and three-dimensional modeling analysis device based on a drone, comprising:

[0046] A first acquisition module, used to acquire initial pipeline information of the underground pipeline, and determine the ultrasonic penetration frequency standard of the underground pipeline based on the initial pipeline information;

[0047] A second acquisition module is used to acquire current ultrasonic information and determine whether the ultrasonic information meets the ultrasonic penetration frequency standard;

[0048] A first determination module is used to calculate the time difference between sending and receiving the ultrasonic information when the conditions are met, and determine the distance between the drone and the underground pipeline according to the time difference between sending and receiving the ultrasonic information;

[0049] A generation module, used to obtain the current position information of the drone, and generate the three-dimensional model image information of the underground pipeline in combination with the distance information and the position information;

[0050] The first control and display module is used to control and display the underground pipeline three-dimensional model image information.

[0051] By adopting the above technical solution, when measuring underground pipelines, the staff retrieves and queries the initial pipeline information of the current pipeline, such as the material, thickness, size, etc. of the current underground pipeline, and then calculates and obtains the ultrasonic penetration frequency standard of the underground pipeline based on the initial pipeline information. The staff adjusts the ultrasonic information of the ultrasonic detector based on the ultrasonic penetration frequency standard to determine that the current ultrasonic information meets the ultrasonic penetration frequency standard, and then calculates the time difference information of sending and receiving the ultrasonic information, and obtains the distance information between the current drone and the underground pipeline based on the time difference information of sending and receiving. Finally, the current position of the drone is located to obtain the current position information of the drone. By processing the drone position information and distance information, the three-dimensional model image information of the underground pipeline is generated, and the three-dimensional model image information of the underground pipeline is displayed, so that the staff can comprehensively monitor the underground pipeline, thereby achieving the effect of improving the measurement efficiency of the underground pipeline.

[0052] In a possible implementation, the first determining module calculates the time difference information of sending and receiving the ultrasonic information, specifically for:

[0053] When a trigger signal is detected, the current ultrasonic emission time information and the ultrasonic reception time information reflected by the underground pipeline of the same batch as the ultrasonic emission time information are obtained;

[0054] The ultrasonic transmission and reception time difference information is calculated based on the ultrasonic transmission time information and the ultrasonic reception time information.

[0055] In another possible implementation, the device further includes: a creation module, a second determination module, and a marking alarm module, wherein:

[0056] The creation module is used to create the preset sending and receiving time difference range information of the ultrasonic information according to the location information of the drone;

[0057] The second determination module is used to determine whether the current sending and receiving time difference information meets the preset sending and receiving time difference range information;

[0058] The marking alarm module is used to mark the location information when the conditions are not met, and control the alarm device to output an alarm signal in a preset manner;

[0059] The preset mode includes at least one of the following: a sound output mode and a light output mode.

[0060] In another possible implementation, the device further includes: a third acquisition module, a third determination module, a fourth determination module, and a warning module, wherein:

[0061] The third acquisition module is used to analyze the real-time position information based on the position information of the current drone to acquire real-time altitude data;

[0062] The third determination module is used to analyze the ultrasonic information and determine the signal receiving and sending distance data of the ultrasonic information;

[0063] The fourth determination module is used to determine whether the real-time altitude data exceeds the signal receiving and sending distance data;

[0064] The warning module is used to generate a height warning message when the height is exceeded, and control the display of the height warning message.

[0065] In another possible implementation, the device further includes: a fourth acquisition module, a fifth determination module, a marking module, and a second control and display module, wherein:

[0066] The fourth acquisition module is used to detect the real-time power information of the current drone, analyze the real-time power information, and acquire the real-time power data;

[0067] The fifth determination module is used to determine whether the real-time power data exceeds the power protection threshold of the drone;

[0068] The marking module is used to mark the real-time power data when it exceeds the limit;

[0069] The second control and display module is used to control and display the marked real-time power data.

[0070] In another possible implementation, the device further includes: an image enhancement module, wherein:

[0071] The underground pipeline three-dimensional model image information is subjected to denoising processing, and the denoised underground pipeline three-dimensional model image information is subjected to image enhancement processing.

[0072] In another possible implementation, the device further includes: a sixth determining module, a seventh determining module, a switching module, and a third control and display module, wherein:

[0073] The sixth determination module is used to obtain the communication route of the current UAV, detect the communication route, and determine the communication status of the communication route;

[0074] The seventh determination module is used to obtain a backup communication route when a signal fluctuation is detected in the communication condition, and detect the backup communication route to determine whether the backup communication condition of the backup communication route meets the current communication demand;

[0075] The switching module is used to switch the communication of the current UAV from the communication route to the backup communication route when the conditions are met;

[0076] The third control display module is used to generate communication abnormality information when the conditions are not met, and control the display of the communication abnormality information. In a third aspect, the present application provides an electronic device, which adopts the following technical solution:

[0077] According to a third aspect, an electronic device includes:

[0078] one or more processors;

[0079] Memory;

[0080] One or more applications, wherein one or more applications are stored in a memory and configured to be executed by one or more processors, and one or more programs are configured to: execute a drone-based underground pipeline measurement and three-dimensional modeling analysis method shown in any possible implementation of the first aspect.

[0081] In a fourth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0082] A computer-readable storage medium, comprising: a computer program that can be loaded and executed by a processor to implement a drone-based underground pipeline measurement and three-dimensional modeling analysis method shown in any possible implementation of the first aspect.

[0083] In summary, the present application includes at least one of the following beneficial technical effects:

[0084] 1. When measuring underground pipelines, the staff retrieves and queries the initial pipeline information of the current pipeline, such as the material, thickness, and size of the current underground pipeline, and then calculates the ultrasonic penetration frequency standard of the underground pipeline based on the initial pipeline information. The staff adjusts the ultrasonic information of the ultrasonic detector based on the ultrasonic penetration frequency standard to determine that the current ultrasonic information meets the ultrasonic penetration frequency standard, and then calculates the time difference information of sending and receiving the ultrasonic information, and obtains the distance information between the current drone and the underground pipeline based on the time difference information of sending and receiving. Finally, the current position of the drone is located to obtain the current position information of the drone. By processing the drone position information and distance information, the three-dimensional model image information of the underground pipeline is generated, and the three-dimensional model image information of the underground pipeline is displayed, so that the staff can conduct a comprehensive monitoring of the underground pipeline, thereby achieving the effect of improving the measurement efficiency of the underground pipeline;

[0085] 2. When obtaining the ultrasonic transmission and reception time difference information, the transmission and reception time difference information is compared and matched with the preset transmission and reception time difference range information to determine whether the transmission and reception time difference information meets the preset condition requirements. If the transmission and reception time difference information does not meet the requirements, it means that the underground pipeline is missing or damaged, and the current drone position is located and marked, and the alarm device is controlled to respond and output, so as to remind the staff to maintain the underground pipeline in time. BRIEF DESCRIPTION OF THE DRAWINGS

[0086] Figure 1 It is a flowchart of an underground pipeline measurement and three-dimensional modeling analysis method based on a drone according to an embodiment of the present application;

[0087] Figure 2 This is a schematic diagram of the structure of an underground pipeline measurement and three-dimensional modeling analysis device based on a drone according to an embodiment of the present application;

[0088] Figure 3 A schematic diagram of the structure of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0089] The following is combined with Figure 1-3 This application is described in further detail.

[0090] After reading this specification, those skilled in the art may make non-creative modifications to this embodiment as needed, but such modifications are protected by patent law as long as they are within the scope of the claims of this application.

[0091] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0092] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0093] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0094] The embodiment of the present application provides a method for underground pipeline measurement and three-dimensional modeling analysis based on drones, which is executed by an electronic device, and the electronic device can be a server or a terminal device, wherein the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services. The terminal device can be a smart phone, a tablet computer, a laptop computer, a desktop computer, etc., but is not limited to this. The terminal device and the server can be directly or indirectly connected via wired or wireless communication, and the embodiment of the present application does not limit this. Figure 1 As shown, the method includes:

[0095] Step S10, obtaining initial pipeline information of the underground pipeline, and determining the ultrasonic penetration frequency standard of the underground pipeline based on the initial pipeline information.

[0096] The initial pipeline information of underground pipelines includes the use information of underground pipelines (water supply, drainage, gas, heat, electricity and communication, etc.), material information (carbon steel pipes and stainless steel pipes, etc.), cross-sectional information and thickness information, etc.

[0097] Specifically, an ultrasonic detector (the present application embodiment uses this instrument for introduction, but is not limited to this instrument) is a device that uses ultrasonic waves (above 20,000 Hz) that are inaudible to the human ear as a detection source for detection. The working principle of the ultrasonic detector is to use ultrasonic emission, and to measure the measured distance through the reflection of the measured object and the time difference after the echo is received. It is a non-contact measuring instrument. The staff obtains the penetration frequency information of the underground pipeline through the initial pipeline information of the underground pipeline. For example, the ultrasonic penetration frequency of the current underground pipeline is 2000 Hz, and the current ultrasonic penetration frequency is formulated as the ultrasonic penetration frequency standard.

[0098] Step S11, obtaining current ultrasonic information, and determining whether the ultrasonic information meets the ultrasonic penetration frequency standard.

[0099] Specifically, the ultrasonic frequency information of the current ultrasonic detector is checked to determine whether the ultrasonic frequency of the current ultrasonic detector is less than the ultrasonic penetration frequency standard.

[0100] Step S12: If the conditions are met, the time difference between the sending and receiving of the ultrasonic information is calculated, and the distance between the UAV and the underground pipeline is determined based on the time difference between the sending and receiving.

[0101] Specifically, the ultrasonic frequency of the current ultrasonic detector is detected to be 1500 Hz, and the ultrasonic penetration frequency of the underground pipeline is detected to be 2000 Hz. The current ultrasonic frequency meets the current ultrasonic penetration frequency standard. The ultrasonic transmitter transmits ultrasonic waves in a certain direction, and the timing starts at the same time as the transmission. The ultrasonic wave propagates in the air, and immediately returns when it encounters an obstacle on the way. The ultrasonic receiver stops timing immediately when it receives the reflected wave. The propagation speed of ultrasonic waves in the air is 340m / s. According to the time t recorded by the timer, the distance (s) from the emission point to the obstacle can be calculated, that is: s=340t / 2.

[0102] Step S13, obtaining the current position information of the drone, and generating underground pipeline three-dimensional model image information in combination with the distance information and the position information.

[0103] Specifically, when confirming the position of a drone, first install GPS on the drone so that the positioning base signal covers the area where the drone is flying. Next, install a UWBLOC tag on the drone and detect the location information of the drone containing the tag through satellite to obtain the current flight altitude information of the drone. Combined with the distance information and the image in the location information, first use CAD to make a 2D plan view, which mainly uses the concepts of points, lines, and surfaces. Then, use ArcGIS and Revit software to stretch the parameters in the 2D plan view into three-dimensional form, build a 3D visualization model, and use point cloud data to achieve high-precision fitting of ground and underground pipelines, extract the shape of underground pipelines, and use shape data to optimize the model boundaries and modify the model details to complete the three-dimensional model of the underground pipeline.

[0104] Step S14, controlling the display of underground pipeline three-dimensional model image information.

[0105] Specifically, the 3D model image information of underground pipelines is acquired through the control layer (controller), business layer (service) and data access layer (dao). The data access layer is only responsible for data interaction with the database and reading data. The business layer needs to write logic code according to the actual business needs of the system. The business logic layer calls the relevant methods of the data access layer to interact with the database and feeds back the execution results to the control layer. The control layer sends the location information to the view renderer, renders the return route information, and displays the 3D model image information of the underground pipeline.

[0106] In an embodiment of the present application, when measuring an underground pipeline, the staff retrieves and queries the initial pipeline information of the current pipeline, such as the material, thickness, size, etc. of the current underground pipeline, and then calculates the ultrasonic penetration frequency standard of the underground pipeline based on the initial pipeline information. The staff adjusts the ultrasonic information of the ultrasonic detector based on the ultrasonic penetration frequency standard to determine that the current ultrasonic information meets the ultrasonic penetration frequency standard, and then calculates the time difference information of sending and receiving the ultrasonic information, and obtains the distance information between the current drone and the underground pipeline based on the time difference information of sending and receiving. Finally, the current position of the drone is located to obtain the current position information of the drone. By processing the drone position information and distance information, the three-dimensional model image information of the underground pipeline is produced, and the three-dimensional model image information of the underground pipeline is displayed, so that the staff can comprehensively monitor the underground pipeline, thereby achieving the effect of improving the measurement efficiency of the underground pipeline.

[0107] In a possible implementation of the embodiment of the present application, step S12 specifically includes step S121 (not shown in the figure) and step S122 (not shown in the figure), wherein:

[0108] Step S121, when a trigger signal is detected, the current ultrasonic emission time information and the ultrasonic reception time information reflected by the underground pipeline of the same batch as the ultrasonic emission time information are obtained.

[0109] Step S122, calculating the ultrasonic wave transmitting and receiving time difference information based on the ultrasonic wave transmitting time information and the ultrasonic wave receiving time information.

[0110] In a possible implementation of the embodiment of the present application, step S122 further includes step S123 (not shown in the figure), step S124 (not shown in the figure), and step S125 (not shown in the figure), wherein:

[0111] Step S123, creating preset sending and receiving time difference range information of ultrasonic information according to the location information of the drone.

[0112] Specifically, the average receiving and sending time difference range information of the ultrasonic detector when performing ultrasonic detection on the underground pipeline is detected, and the average receiving and sending time difference range information is determined as the preset receiving and sending time difference range information.

[0113] Step S124, determining whether the current sending and receiving time difference information meets the preset sending and receiving time difference range information.

[0114] Specifically, when an underground pipeline is missing or damaged, the time difference in the ultrasonic detector's receiving and sending time difference information of the underground pipeline will increase, so that the receiving and sending time difference information does not meet the preset receiving and sending time difference range information.

[0115] Step S125: if the conditions are not met, the location information is marked and the alarm device is controlled to output an alarm signal in a preset manner;

[0116] Among them, the preset mode includes at least one of the following: a sound output mode and a light output mode.

[0117] Specifically, when it is found that the current receiving and sending time difference information does not meet the preset receiving and sending time difference range information, the electronic device transmits a control signal to the alarm device to control the alarm device to send an alarm signal through sound and light output.

[0118] For example, devices that send out alarm signals by sound include: buzzers, bells, whistles, and sirens, etc., and devices that send out alarm signals by light output include: breathing lights, flashing lights, engineering alarm lights, etc.

[0119] In a possible implementation of the embodiment of the present application, step S13 further includes step S131 (not shown in the figure), S132 (not shown in the figure), S133 (not shown in the figure) and step S134 (not shown in the figure), wherein:

[0120] Step S131, based on the current position information of the UAV, the real-time position information is analyzed to obtain real-time altitude data.

[0121] Specifically, according to the UAV position information acquired by the satellite, the latitude and longitude data of the current UAV are screened out, and the real-time altitude data of the current UAV is obtained through calculation.

[0122] Step S132, analyzing the ultrasonic information to determine the signal receiving and sending distance data of the ultrasonic information.

[0123] Specifically, the principle of ultrasonic ranging is to use the known propagation speed of ultrasonic waves in the air, measure the time it takes for the sound wave to be reflected by an obstacle after being transmitted, and calculate the actual distance from the transmitting point to the obstacle based on the time difference between transmission and reception. It can be seen that the principle of ultrasonic ranging is the same as that of radar. The ranging formula is: L=C×T, where L is the measured distance length; C is the propagation speed of ultrasonic waves in the air; and T is the time difference of the measured distance propagation (T is half of the time value from transmission to reception).

[0124] Step S133, determining whether the real-time altitude data exceeds the signal receiving and sending distance data.

[0125] Step S134: if exceeded, generate a high warning message and control the display of the high warning message.

[0126] In a possible implementation of the embodiment of the present application, step S14 further includes step S15 (not shown in the figure), step S16 (not shown in the figure), step S17 (not shown in the figure) and step S18 (not shown in the figure), wherein:

[0127] Step S15, detecting the real-time power information of the current drone, and analyzing the real-time power information to obtain real-time power data.

[0128] Step S16, determining whether the real-time power data exceeds the power protection threshold of the drone.

[0129] Specifically, the real-time power data obtained in step S15 is compared with a preset power protection threshold. For example, the power protection threshold of the drone is 20%. When the detected real-time power data is less than 20%, the drone is prone to crash.

[0130] Step S17: If exceeded, the real-time power data is marked.

[0131] Specifically, the acquired real-time power data that does not meet the power protection threshold is marked. For example: <span style=""color:red”"> {Real-time power data} '.

[0132] Step S18, controlling the display of the marked real-time power data.

[0133] In a possible implementation of the embodiment of the present application, step S13 includes step S135 (not shown in the figure) after step S13, wherein:

[0134] Step S135, performing denoising processing on the underground pipeline three-dimensional model image information, and performing image enhancement processing on the denoised underground pipeline three-dimensional model image information.

[0135] Specifically, noise can be understood as "factors that hinder people's sensory organs from understanding the received source information." For example, for a black and white picture, its plane brightness distribution is assumed to be f(x, y), then the brightness distribution R(x, y) that interferes with its reception can be called image noise. Common image noises include additive noise, multiplicative noise, quantization noise, and "salt and pepper" noise. Additive noise is unrelated to the image signal intensity, for example: "channel noise" introduced during the transmission of the image, the noise of the TV camera scanning the image; multiplicative noise is related to the image signal and often changes with the change of the image signal, for example: the noise in the flying spot scanning image, the TV scanning raster, the film grain, etc.; quantization noise is the main noise source of digital images, and its size shows the difference between the digital image and the original image; "salt and pepper" noise, for example: white spots on black images caused by image cutting, black spot noise on white images, errors introduced in the transform domain, and transformation noise caused by the inverse transformation of the image. .

[0136] In a possible implementation of the embodiment of the present application, step S14 includes steps S19 (not shown in the figure), S20 (not shown in the figure), S21 (not shown in the figure), and step S22 (not shown in the figure), wherein:

[0137] Step S19, obtaining the communication route of the current UAV, and detecting the communication route to determine the communication status of the communication route.

[0138] Specifically, when ground staff communicate with a drone in the air, the drone sends information to a designated base station through a signal transmitter, and then sends it to a ground transceiver through the base station, which detects the signal sent by the base station to determine the current communication status.

[0139] Step S20, when it is detected that the communication condition has signal fluctuations, an alternative communication route is obtained, and the alternative communication route is tested to determine whether the alternative communication condition of the alternative communication route meets the current communication demand.

[0140] Specifically, as the flying altitude of the drone increases, the connection between the transmitter inside the drone and the base station fluctuates, causing abnormalities in the current communication route. Therefore, a backup communication line is set up to switch to the backup communication line when an abnormality occurs in the communication route. The backup communication line: the transmitter communicates with the satellite through a router via 4G / 5G. After receiving the data, the satellite sends the data to the ground. At the same time, the backup communication line is tested to ensure normal communication.

[0141] Step S21: If the conditions are met, the communication of the current UAV is switched from the communication route to the backup communication route.

[0142] Step S22: if not satisfied, then generate communication abnormality information and control the display of the communication abnormality information.

[0143] The above-mentioned embodiment introduces a method for underground pipeline measurement and three-dimensional modeling and analysis based on a drone from the perspective of method flow. The following embodiment introduces a device for underground pipeline measurement and three-dimensional modeling and analysis based on a drone from the perspective of a virtual module or a virtual unit. For details, please see the following embodiment.

[0144] The present application embodiment provides a device for underground pipeline measurement and three-dimensional modeling analysis based on a drone, such as Figure 2 As shown, the underground pipeline measurement and three-dimensional modeling analysis device based on drone may specifically include: a first acquisition module 21, a second acquisition module 22, a first determination module 23, a generation module 24 and a first control display module 25, wherein,

[0145] A first acquisition module 21 is used to acquire initial pipeline information of the underground pipeline and determine the ultrasonic penetration frequency standard of the underground pipeline based on the initial pipeline information;

[0146] The second acquisition module 22 is used to acquire the current ultrasonic information and determine whether the ultrasonic information meets the ultrasonic penetration frequency standard;

[0147] The first determination module 23 is used to calculate the time difference between sending and receiving the ultrasonic information when the conditions are met, and determine the distance between the drone and the underground pipeline according to the time difference between sending and receiving the ultrasonic information;

[0148] A generating module 24 is used to obtain the current position information of the drone, and generate the three-dimensional model image information of the underground pipeline in combination with the distance information and the position information;

[0149] The first control and display module 25 is used to control and display the image information of the underground pipeline three-dimensional model.

[0150] In a possible implementation of the embodiment of the present application, the first determination module 23 calculates the time difference information of sending and receiving the ultrasonic information, specifically for:

[0151] When the trigger signal is detected, the current ultrasonic emission time information and the ultrasonic reception time information reflected by the underground pipeline of the same batch as the ultrasonic emission time information are obtained;

[0152] The ultrasonic wave transmitting and receiving time difference information is calculated based on the ultrasonic wave transmitting time information and the ultrasonic wave receiving time information.

[0153] In another possible implementation of the embodiment of the present application, the device 20 further includes: a creation module, a second determination module, and a marking alarm module, wherein:

[0154] A creation module is used to create preset sending and receiving time difference range information of ultrasonic information according to the location information of the drone;

[0155] The second determination module is used to determine whether the current sending and receiving time difference information meets the preset sending and receiving time difference range information;

[0156] The marking alarm module is used to mark the location information when the conditions are not met, and control the alarm device to output an alarm signal in a preset manner;

[0157] The preset mode includes at least one of the following: a sound output mode and a light output mode.

[0158] In another possible implementation of the embodiment of the present application, the device 20 further includes: a third acquisition module, a third determination module, a fourth determination module and a warning module, wherein:

[0159] The third acquisition module is used to obtain real-time altitude data based on the current position information of the UAV and analyze the real-time position information;

[0160] A third determination module is used to analyze the ultrasonic information and determine the signal receiving and sending distance data of the ultrasonic information;

[0161] A fourth determination module is used to determine whether the real-time altitude data exceeds the signal receiving and sending distance data;

[0162] The warning module is used to generate a height warning message when the height is exceeded and control the display of the height warning message.

[0163] In another possible implementation of the embodiment of the present application, the device 20 further includes: a fourth acquisition module, a fifth determination module, a marking module, and a second control and display module, wherein:

[0164] The fourth acquisition module is used to detect the real-time power information of the current drone, analyze the real-time power information, and obtain the real-time power data;

[0165] The fifth determination module is used to determine whether the real-time power data exceeds the power protection threshold of the drone;

[0166] The marking module is used to mark the real-time power data when it exceeds the limit;

[0167] The second control display module is used to control the display of the marked real-time power data.

[0168] In another possible implementation of the embodiment of the present application, the device 20 further includes: an image enhancement module, wherein:

[0169] The underground pipeline three-dimensional model image information is subjected to denoising processing, and the denoised underground pipeline three-dimensional model image information is subjected to image enhancement processing.

[0170] In another possible implementation of the embodiment of the present application, the device 20 further includes: a sixth determination module, a seventh determination module, a switching module, and a third control display module, wherein:

[0171] The sixth determination module is used to obtain the communication route of the current UAV, detect the communication route, and determine the communication status of the communication route;

[0172] A seventh determination module is used to obtain a backup communication route when a signal fluctuation is detected in the communication condition, and detect the backup communication route to determine whether the backup communication condition of the backup communication route meets the current communication demand;

[0173] A switching module is used to switch the communication of the current UAV from the communication route to the backup communication route when the conditions are met;

[0174] The third control display module is used to generate communication abnormality information when the conditions are not met, and control the display of the communication abnormality information.

[0175] Specifically, the first determination module 23, the second determination module, the third determination module, the fourth determination module, the fifth determination module, the sixth determination module and the seventh determination module may all be the same module, or may all be different modules, or may partially be different modules; the first acquisition module 21, the second acquisition module 22, the third acquisition module and the fourth acquisition module may all be the same module, or may all be different modules, or may partially be different modules; the first control display module 25 and the second control display module may all be the same module, or may all be different modules, or may partially be different modules, which is not limited in the embodiments of the present application.

[0176] An electronic device is provided in an embodiment of the present application, such as Figure 3 As shown, Figure 3 The electronic device 1000 shown includes: a processor 1001 and a memory 1003. The processor 1001 and the memory 1003 are connected, such as through a bus 1002. Optionally, the electronic device 1000 may also include a transceiver 1004. It should be noted that in actual applications, the transceiver 1004 is not limited to one, and the structure of the electronic device 1000 does not constitute a limitation on the embodiments of the present application.

[0177] Processor 1001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. Processor 1001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0178] The bus 1002 may include a path to transmit information between the above components. The bus 1002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 1002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0179] The memory 1003 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0180] The memory 1003 is used to store the application code for executing the solution of the present application, and the execution is controlled by the processor 1001. The processor 1001 is used to execute the application code stored in the memory 1003 to implement the contents shown in the above method embodiment.

[0181] The electronic devices include, but are not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), and fixed terminals such as digital TVs, desktop computers, etc. It can also be a server, etc. Figure 3 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0182] The embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is run on a computer, the computer can execute the corresponding content in the above method embodiment. Compared with the related art, in the embodiment of the present application, when measuring the underground pipeline, the staff retrieves and queries the initial pipeline information of the current pipeline, such as the material, thickness and size of the current underground pipeline, and then calculates and obtains the ultrasonic penetration frequency standard of the underground pipeline according to the initial pipeline information. The staff adjusts the ultrasonic information of the ultrasonic detector according to the ultrasonic penetration frequency standard to determine that the current ultrasonic information meets the ultrasonic penetration frequency standard, and then calculates the time difference information of the ultrasonic information, and obtains the distance information between the current drone and the underground pipeline according to the time difference information, and finally locates the current position of the drone to obtain the position information of the current drone, and produces the three-dimensional model image information of the underground pipeline by processing the drone position information and distance information, and displays the three-dimensional model image information of the underground pipeline, so that the staff can comprehensively monitor the underground pipeline, thereby achieving the effect of improving the measurement efficiency of the underground pipeline.

[0183] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0184] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for underground pipeline measurement and 3D modeling analysis based on drones. It is characterized in that include: Acquiring initial pipeline information of the underground pipeline, and determining an ultrasonic penetration frequency standard of the underground pipeline based on the initial pipeline information; Acquire current ultrasonic information, and determine whether the ultrasonic information meets the ultrasonic penetration frequency standard; If the conditions are met, the time difference between sending and receiving the ultrasonic information is calculated, and the distance between the drone and the underground pipeline is determined according to the time difference between sending and receiving the ultrasonic information; Acquire the current position information of the drone, and generate the three-dimensional model image information of the underground pipeline in combination with the distance information and the position information; Controlling the display of the underground pipeline three-dimensional model image information; The step of calculating the time difference between sending and receiving the ultrasonic information includes: When a trigger signal is detected, the current ultrasonic emission time information and the ultrasonic reception time information reflected by the underground pipeline of the same batch as the ultrasonic emission time information are obtained; Calculate the ultrasonic wave transmitting and receiving time difference information based on the ultrasonic wave transmitting time information and the ultrasonic wave receiving time information; The step of calculating the ultrasonic wave transmitting and receiving time difference information based on the ultrasonic wave transmitting time information and the ultrasonic wave receiving time information further includes: According to the location information of the drone, a preset sending and receiving time difference range information of the ultrasonic information is created; Determine whether the current sending and receiving time difference information meets the preset sending and receiving time difference range information; If not, the location information is marked and the alarm device is controlled to output an alarm signal in a preset manner; The preset mode includes at least one of the following: a sound output mode and a light output mode.

2. The method according to claim 1, It is characterized in that The step of obtaining the current location information of the drone further includes: Based on the position information of the current drone, the real-time position information is analyzed to obtain real-time altitude data; Analyze the ultrasonic information to determine signal sending and receiving distance data of the ultrasonic information; Determining whether the real-time altitude data exceeds the signal receiving and transmitting distance data; If it exceeds, a high warning message is generated and the display of the high warning message is controlled.

3. The method according to any one of claims 1 to 2, It is characterized in that Also includes: Detect the real-time power information of the current drone, analyze the real-time power information, and obtain real-time power data; Determine whether the real-time power data exceeds the power protection threshold of the drone; If it exceeds, the real-time power data is marked; Controls the display of real-time power data after annotation.

4. The method according to claim 1, It is characterized in that The step of combining the distance information and the location information to generate the underground pipeline three-dimensional model image information further includes: The underground pipeline three-dimensional model image information is subjected to denoising processing, and the denoised underground pipeline three-dimensional model image information is subjected to image enhancement processing.

5. The method according to claim 1, It is characterized in that Also includes: Obtaining the communication route of the current drone, and detecting the communication route to determine the communication status of the communication route; When it is detected that the communication condition has signal fluctuations, an alternative communication route is acquired, and the alternative communication route is tested to determine whether the alternative communication condition of the alternative communication route meets the current communication demand; If satisfied, the communication of the current UAV is switched from the communication route to the backup communication route; If not, communication abnormality information is generated and the display of the communication abnormality information is controlled.

6. An underground pipeline measurement and 3D modeling analysis device based on drones, It is characterized in that include: A first acquisition module, used to acquire initial pipeline information of the underground pipeline, and determine the ultrasonic penetration frequency standard of the underground pipeline based on the initial pipeline information; A second acquisition module is used to acquire current ultrasonic information and determine whether the ultrasonic information meets the ultrasonic penetration frequency standard; A first determination module is used to calculate the time difference between sending and receiving the ultrasonic information when the conditions are met, and determine the distance between the drone and the underground pipeline according to the time difference between sending and receiving the ultrasonic information; A generation module, used to obtain the current position information of the drone, and generate the three-dimensional model image information of the underground pipeline in combination with the distance information and the position information; A first control and display module, used for controlling and displaying the underground pipeline three-dimensional model image information; When calculating the time difference information of sending and receiving the ultrasonic information, the first determination module is specifically used to: When a trigger signal is detected, the current ultrasonic emission time information and the ultrasonic reception time information reflected by the underground pipeline of the same batch as the ultrasonic emission time information are obtained; Calculate the ultrasonic wave transmitting and receiving time difference information based on the ultrasonic wave transmitting time information and the ultrasonic wave receiving time information; The device further comprises: a creation module, a second determination module and a marking alarm module, wherein: The creation module is used to create the preset sending and receiving time difference range information of the ultrasonic information according to the location information of the drone; The second determination module is used to determine whether the current sending and receiving time difference information meets the preset sending and receiving time difference range information; The marking alarm module is used to mark the location information when the conditions are not met, and control the alarm device to output an alarm signal in a preset manner; The preset mode includes at least one of the following: a sound output mode and a light output mode.

7. An electronic device, It is characterized in that It includes: One or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to: execute a drone-based underground pipeline measurement and three-dimensional modeling analysis method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the program is executed by a processor, it implements the underground pipeline measurement and three-dimensional modeling analysis method based on a drone as described in any one of claims 1 to 5.

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