An underground pipeline construction intelligent monitoring method, system and medium

Abstract

The application provides an underground pipeline construction intelligent monitoring method, system and medium, the intelligent monitoring method comprises unmanned aerial vehicle high-precision image automatic monitoring and underground pipeline three-dimensional data automatic identification and modeling process, the unmanned aerial vehicle high-precision image automatic monitoring process comprises underground pipeline construction automatic high-definition image tracking collection and image processing based on unmanned aerial vehicle, and the underground pipeline three-dimensional data automatic identification and modeling comprises pipeline image intelligent identification, pipeline vector extraction and pipeline three-dimensional modeling.The method can be applied to the automatic monitoring of pipeline three-dimensional data in the underground pipeline construction process of power plant, chemical plant and other plant scenes, effectively solves the problem that accurate three-dimensional data during the construction to the completion of the underground pipeline is difficult to obtain due to the complex and complex of various pipelines, and optimizes the three-dimensional accurate tracking measurement method of the underground pipeline construction period of the plant.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of artificial intelligence technology application, and particularly relates to an underground pipeline construction intelligent monitoring method. BACKGROUND

[0002] At present, during the infrastructure construction period of thermal power plants, factories and other plant areas, there are many types of underground pipelines, including water supply, drainage, sewage, pressure, gas and the like, and there are a large number of cross operations during the construction period, and it is difficult to achieve all the construction according to the drawings, and there are many temporary changes in construction, at the same time, due to the tight construction period, many pipelines are covered with surface layer under the condition of completion measurement, so the underground pipeline data of the plant area cannot be completely mastered, and it is difficult to accurately draw a three-dimensional underground pipeline map, which brings inconvenience to the future underground pipeline operation and maintenance work of the power plant.

[0003] With the development of unmanned aerial vehicle technology and artificial intelligence technology, unmanned aerial vehicles can efficiently complete the surveying and mapping work under the operation instruction of a person, are gradually replacing the traditional manual surveying and mapping method, and effectively reduce the labor cost and safety risk of surveying and mapping work, and improve the work efficiency.

[0004] However, the conventional unmanned aerial vehicle aerial survey technology is used for the underground pipeline construction measurement of the plant area such as the thermal power plant, and the problems include: 1. The unmanned aerial vehicle needs to be regularly operated according to the construction progress, needs to be controlled multiple times, and needs to be processed, the work frequency is large, and continuous operation is difficult; 2. The pipelines are densely distributed on the site, and are often covered during construction, which is easy to cause aerial survey to miss shooting; 3. The pipeline data is large, and a large amount of manpower is needed to manually identify the image data obtained in each period, extract and draw the pipeline vector changes of the current construction, and errors and omissions are easy to occur; 4. The pipeline categories are many, and the full-factor and full-coverage data extraction of the underground pipelines under construction of the thermal power plant cannot be efficiently realized.

[0005] Therefore, during the pipeline construction period of the plant area, how to efficiently and conveniently obtain the pipeline data and supervise the progress and quality of the pipeline construction has become a problem to be solved. SUMMARY

[0006] The purpose of the present application is to overcome the deficiencies in the prior art, and provide an underground pipeline construction intelligent monitoring method, system and medium, which can improve the efficiency of obtaining pipeline engineering data during the infrastructure construction period of the plant area, facilitate the engineering progress and quality monitoring management, and maintain the pipeline in the later period.

[0007] To achieve the above purpose, the present application adopts the following technical scheme:

[0008] In a first aspect, the present application provides an underground pipeline construction intelligent monitoring method, comprising the following steps:

[0009] S1: receiving an underground pipeline monitoring instruction, forming a regional image collection task according to the instruction, and sending the task to a UAV to control the UAV to execute the regional image collection task;

[0010] S2: acquiring the collected images and analyzing and processing the collected images to form orthophoto map DOM and digital surface model DSM results;

[0011] S3: according to the acquired image analysis results, using image recognition technology to intelligently recognize the pipelines in the orthophoto map DOM; after the recognition is completed, the recognized images are automatically converted into pipeline planar vector data;

[0012] S4: extracting the pipe top elevation data from the digital surface model DSM results in the range of the pipeline planar vector data to obtain the pipe top elevation data;

[0013] S5: acquiring plant area pipeline design data, integrating the pipeline planar vector data and the pipe top elevation data, and realizing three-dimensional modeling of the plant area pipeline construction status.

[0014] Further, the method further comprises:

[0015] As the construction process advances, the UAV is controlled to execute multi-period image collection tasks as needed, corresponding DOM and DSM result data of the multi-period regional range are acquired, the constructed three-dimensional model is updated, and the content of each update is recorded.

[0016] Further, the method of acquiring the collected images comprises: connecting with a data reading device carried on the UAV to acquire the collected images;

[0017] The data reading device comprises at least one of a high-resolution camera, a laser radar sensor, an RFID reader, an infrared sensor, and a depth sensor; and the collected images comprise ground high-resolution images and elevation data information.

[0018] Further, the method of receiving the underground pipeline monitoring instruction comprises:

[0019] The management personnel manually enter, and the entered form is one or more of hand signals, voice signals, touch map positions, and input description information.

[0020] Further, the method of receiving the underground pipeline monitoring instruction further comprises:

[0021] According to the construction information, automatically issuing a monitoring instruction to control the UAV to collect image data of the corresponding region;

[0022] The construction information comprises construction progress and / or received warning information.

[0023] Further, the method for controlling the UAV to perform the area image collection task comprises:

[0024] After receiving the monitoring instruction, the UAV analyzes the instruction, forms a task list according to a target task sequence, plans a path of the UAV according to a set rule, and controls the UAV to perform the image collection task according to the planned path.

[0025] The set rule comprises from near to far or from center to edge.

[0026] Further, the method for controlling the UAV to perform the area image collection task further comprises:

[0027] During the monitoring process, the UAV monitors the ground construction personnel and / or equipment, and when the number exceeds a preset threshold, focuses on recording the area to collect multi-angle image information.

[0028] Further, the method for controlling the UAV to perform the area image collection task further comprises:

[0029] After obtaining the image information, the UAV identifies the pipeline, node and connecting equipment on the ground, performs line inspection and monitoring, obtains attribute information of the pipeline and connecting equipment, and measures the line angle and height, and gives a warning when there is an anomaly.

[0030] Further, the method further comprises:

[0031] According to the obtained monitoring data, the construction data is compared, the construction progress is evaluated and predicted, and a construction progress suggestion is given.

[0032] In a second aspect, the application provides an intelligent underground pipeline construction monitoring system, characterized in that the system comprises: an intelligent monitoring platform and a UAV.

[0033] The intelligent monitoring platform comprises:

[0034] An instruction module is configured to receive a pipeline monitoring instruction and form an area image collection task according to the instruction.

[0035] A data receiving module is configured to receive image data returned by the UAV.

[0036] An image analysis module is configured to analyze and process the received image to form a DOM and a DSM.

[0037] An image recognition module: according to the obtained image analysis result, the image recognition technology is used for intelligently recognizing the pipeline in the orthographic image DOM, the recognized image is automatically converted into the pipeline planar vector data after the recognition is completed, the pipe top elevation data is extracted from the digital surface model (DSM) result in the range of the pipeline planar vector data, and the pipe top elevation data is obtained;

[0038] A model construction module: obtaining plant pipeline design data, integrating the pipeline planar vector data and the pipe top elevation data, and realizing three-dimensional modeling of the plant pipeline construction status;

[0039] The unmanned aerial vehicle is used for receiving and executing a regional image acquisition task, collecting and returning the collected image to the intelligent monitoring platform.

[0040] In a third aspect, the present application also provides a computer readable storage medium, which stores program instructions, and the program instructions are executed by a processor to control an electronic device and an unmanned aerial vehicle to perform the steps of the method according to the first aspect.

[0041] Compared with the prior art, the present application has the following beneficial effects:

[0042] 1. The underground pipeline construction intelligent monitoring method can be applied to the automatic monitoring of pipeline three-dimensional data in the underground pipeline construction process of the plant scene of the thermal power plant, the chemical plant and the like, effectively solves the problem that accurate three-dimensional data during the underground pipeline construction to the completion period is difficult to obtain due to the complex and staggered various pipelines, fast construction coverage in the existing plant, and comprehensively optimizes the three-dimensional accurate tracking measurement method during the underground pipeline construction period of the plant;

[0043] 2. The present application performs real-time processing when acquiring images, timely adjusts the image acquisition strategy when the object in the image exceeds the threshold, can improve the timeliness and comprehensiveness of pipeline construction data recording, realizes full-element and full-coverage data extraction of pipeline construction data, efficiently realizes data analysis and processing, thereby accurately, conveniently and intuitively providing pipeline related data for construction management personnel and operation and maintenance personnel, overcoming the continuous operation problem, and solving the problems of dense field pipeline, often covering while constructing, and easy to cause missed shooting of aerial survey and multiple pipeline categories.

[0044] 3. The present application uses multiple data acquisition devices to effectively submit data acquisition channels and frequencies, and improves the information recognition effect. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 It is a method execution flowchart taking the underground pipeline construction intelligent monitoring process of the plant of the thermal power plant as an example.

[0046] Figure 2 It is a schematic diagram of collecting data information by an unmanned aerial vehicle in the underground pipeline construction process.

[0047] Figure 3 Fig. 1 is an example of a system framework diagram of an underground pipeline construction intelligent monitoring system. DETAILED DESCRIPTION

[0048] The application will be further described below with reference to the drawings. The following examples are only used to more clearly illustrate the technical solutions of the application, and cannot be used to limit the protection scope of the application.

[0049] Example 1

[0050] In order to improve the timeliness and comprehensiveness of pipeline construction data recording, realize full-factor and full-coverage data extraction of pipeline construction data, and efficiently realize data analysis and processing, thereby accurately, conveniently and intuitively providing pipeline related data for construction management personnel and operation and maintenance personnel, the embodiment proposes an underground pipeline construction intelligent monitoring method realized based on a UAV system, realizes an intelligent monitoring mode of construction, recording, modeling and updating at the same time, and greatly improves the data processing efficiency.

[0051] In Figure 1 , taking underground pipeline construction of a thermal power plant as an example, the general framework of the pipeline construction intelligent monitoring method is displayed. The underground pipeline construction intelligent monitoring method of the embodiment comprises the following steps:

[0052] S1: receiving an underground pipeline monitoring instruction, forming a regional image acquisition operation task according to the instruction, and executing the operation task by a UAV.

[0053] Specifically, the management personnel can input a command to the monitoring platform. The form of the command is various. The input can be a piece of text representing the demand, and the platform extracts the key identifier therefrom. Alternatively, the key word can be directly input. The management personnel can also input a voice command, and after voice recognition, the UAV goes to the specified area to execute the task.

[0054] When the regional map information is displayed in the front display screen, the user can specify the point, demarcate a certain range, draw a line, etc. in the form of touch, so that the UAV goes to the specified area range to obtain pipeline data.

[0055] Optionally, the management personnel can also interact with the UAV through a handheld terminal, and directly issue an instruction through the terminal, or forward the instruction through the intelligent monitoring platform.

[0056] After obtaining the instruction, the instruction is analyzed to obtain the geographical position information contained in the instruction and / or the operation to be executed, a task sequence is formed, and the task information obtained by analysis is used to go to the destination to execute the task.

[0057] The unmanned aerial vehicle carries a GPS positioning device, which can be positioned in real time during flight and clearly define the range boundary of the factory area. In order to improve the surveying and mapping accuracy, the unmanned aerial vehicle can be calibrated in 3D before performing the task. A coordinate system is constructed with the center point of the factory area as the coordinate origin, and calibration marks are placed at the corner points of the factory area, the center point, and the midpoint of the line connecting the center point and the corner point. The marks can be a set size of a checkerboard, a square, or a circle. Starting from the ground, the field of view at the flight height of the unmanned aerial vehicle can cover the entire factory area range, or reach a specified height, such as 20 / 30 / 50 / 70 / 100 meters. The height is divided into multiple levels, and the unmanned aerial vehicle flies in the 3D space with the factory area range as the boundary, according to the multiple division heights, obtains images including calibration marks, and records the angle information of the calibration marks.

[0058] The acquired identification images are processed and analyzed to obtain the size information of the identification patterns in the images. The flight height information, flight coordinates, and angle information of the unmanned aerial vehicle relative to the identification are used for fitting operation, and the unmanned aerial vehicle is calibrated according to the operation result, which facilitates subsequent obtaining of the size information of object objects in the images of the unmanned aerial vehicle.

[0059] Preferably, when multiple target areas or large area ranges are included in the instructions, a single one-way flight may not be able to complete the measurement. In order to improve data acquisition efficiency, the flight path of the unmanned aerial vehicle can be planned.

[0060] The factory area range is divided into granular atoms, which are adjacent to each other and cover the entire factory area. The unmanned aerial vehicle moves according to the granular atoms, and consumes a certain amount of energy for each move. When there is a target area, a straight path is taken to the target granular atom position. When there is a single large target area, the unmanned aerial vehicle can move in a H-shaped or back-shaped path. When there are multiple scattered target areas, the target granular atom positions of the target areas are determined, the target granular atoms are connected two by two, and the connections are numbered. The principle is to minimize repeated scanning, for example, each target granular atom is scanned only once. A plurality of paths that can cover the target granular atoms are determined, the energy consumed by each path is accumulated, and the target path is determined based on the principle of minimum energy consumption. The planned route is displayed, and the unmanned aerial vehicle flies along the route for measurement.

[0061] Optionally, the amount of electricity consumed by the unmanned aerial vehicle to perform the task is evaluated, and when the electricity demand cannot be met, the breakpoint is recorded, and the unmanned aerial vehicle returns to charge and returns to the breakpoint for re-measurement.

[0062] Optionally, the unmanned aerial vehicle is equipped with multiple data reading devices, including at least one of a high-resolution camera, a laser radar sensor, an RFID reader, an infrared sensor, and a depth sensor, to obtain various information including high-resolution images and elevation data.Figure 2 An example of collecting data information by various sensors carried by the unmanned aerial vehicle in the underground pipeline construction process is shown.

[0063] Preferably, in order to facilitate the control of the unmanned aerial vehicle, the mapping relationship between the gesture and the operation of the unmanned aerial vehicle can be stored in advance. The camera carried by the unmanned aerial vehicle can obtain gesture information of the ground personnel, and execute corresponding instructions according to the gesture information, for example, the circle operation specifies the hovering of the unmanned aerial vehicle, and the arm swinging indicates the forward / backward movement.

[0064] The unmanned aerial vehicle can also perform face or voiceprint recognition, and only specific personnel can realize control intervention.

[0065] S2: analyzing and processing the collected images to form orthographic image DOM and digital surface model DSM results;

[0066] The unmanned aerial vehicle returns the collected data information in real time, or reads the data after returning. The obtained data information is analyzed and processed to extract image information, identify images with overlap, determine the position of each image relative to the plant area range according to the overlapping pixel position, splice each image to obtain high-resolution image information covering the entire plant area.

[0067] The image elements are differentiated and corrected, and then the image is inlaid. According to the preset surveying and mapping area range, the image is cropped to form a digital orthographic image set DOM with features and map accuracy, the scale information is labeled, and the corresponding digital surface model DSM containing ground feature elevation information is extracted. The obtained data information is mapped and stored with high-resolution color images.

[0068] S3: according to the obtained image analysis results, using image recognition technology to intelligently recognize the pipelines in the DOM; after the recognition is completed, the recognized image is automatically converted into pipeline planar vector data.

[0069] In the pipeline construction process, the objects involved mainly include pipelines and connecting accessories, such as tees / four-way junctions / five-way junctions, elbows, reducers, and end caps. The color, material, and diameter of the pipeline will also differ according to different purposes. The characteristic information of the pipelines and accessories for various purposes, such as size, shape, and color, is obtained in advance, and the recognition model based on convolutional neural network is trained. The DOM image data is input into the trained model to recognize and obtain the position of the pipelines and accessories, determine the start and end positions of the pipelines according to the calibration information of the unmanned aerial vehicle, and calculate the related size data of the pipelines and accessories. The recognized results are converted into two-dimensional vector data.

[0070] S4: extracting the pipe top elevation data from the DSM within the range of the vector data.

[0071] The elevation data of the pipe top and accessories in the vector data is marked, the buried depth data of the pipeline is determined, and the full information of the pipeline including the use, position, size, and elevation data is obtained.

[0072] S5: Obtain the plant area pipeline design data, integrate the pipeline plane vector data and the pipe top elevation data, and realize the three-dimensional modeling of the plant area pipeline construction status.

[0073] Before the construction of the plant area pipeline, the construction drawing is designed, the drawing is identified, and the position and orientation information of each pipeline is determined. Align the drawing with the pipeline plane vector data, then integrate the obtained pipeline plane vector data and elevation data information with the drawing design data to obtain a three-dimensional pipeline model representing the current state of the pipeline construction, and perform front-end display. The constructed model can be scaled and rotated at multiple angles as needed, and the relevant attribute information of the pipeline construction including material, purpose, size, and buried depth can be clearly seen by selecting the target position.

[0074] Optionally, the pipeline status can also be marked according to the construction progress, for example, after the water supply pipeline from the warehouse to the equipment room is laid, a green mark is added next to it to indicate that the pipeline is in a conducting state. The rework, maintenance, and pending position types can be displayed in different colors.

[0075] The data of the laid pipeline is constantly updated as the construction process advances. In order to obtain the pipeline construction data in a timely manner, the unmanned aerial vehicle performs multi-period image acquisition tasks as needed, such as inspection every 2 / 4 / 6 / 8 hours, or according to user operation instructions. Corresponding multi-period regional range DOM and DSM result data are obtained, the constructed three-dimensional model is updated, and the content and time of each update are recorded, and multiple version information is saved, so as to query and trace the construction process.

[0076] The intelligent platform can also manage construction personnel and equipment, and statistically analyze the work efficiency of personnel and equipment at each time period. Combined with the update of pipeline data, the construction progress is reasonably predicted, and construction suggestions can be given. The intelligent platform audits the pipeline construction data such as the wiring angle and height, compares them with the pre-stored design data and industry standard information of pipeline construction, and gives evaluation information. When there is an anomaly, the unmanned aerial vehicle is controlled in time for early warning, and relevant personnel's handheld terminal can also be fed back.

[0077] The intelligent monitoring platform can also automatically issue monitoring instructions according to construction information such as construction progress or received warning information, so that the unmanned aerial vehicle collects image data of the corresponding area.

[0078] During the monitoring process, the unmanned aerial vehicle monitors the ground construction personnel and / or equipment, and when the number exceeds a preset threshold, the area is recorded in focus to collect multi-angle image information. When there are many construction personnel and / or equipment gathered, it usually indicates that the construction position is an important node of pipeline layout. The unmanned aerial vehicle obtains the construction site image, and when the number is identified to exceed the set number, the area is monitored in focus, which can reduce the flight height to obtain multi-view images such as front, side and top. At the same time, the unmanned aerial vehicle can also provide on-site monitoring function for the platform remote personnel and handheld terminal personnel, real-time watch the returned picture, and can issue voice instructions.

[0079] In order to grasp the construction data information in time, the construction personnel, construction machinery and equipment, and the pipeline and connecting accessories can be provided with RFID tags. The RFID tag of the construction personnel records the personal information such as the type of work and the name of the personnel, the RFID of the mechanical equipment records the type, manufacturer and maintenance record of the equipment, and the RFID tag of the pipeline and connecting accessories records the material, color, size, purpose and installation position information of the object. The management personnel and the unmanned aerial vehicle are provided with RFID readers, which can obtain the information of the object provided with the tag by scanning the RFID tag, record detailed construction log, and update the information to the pipeline model.

[0080] The handheld terminal of the related personnel can be a smart phone, iPad, laptop computer, or a designated device customized to be connected to the platform.

[0081] The unmanned aerial vehicle can be used to efficiently record the point cloud data, elevation information and high-resolution image information of the geographical area, and can return the recorded information to the background system for data analysis, and can ignore the terrain,

[0082] Compared with the traditional manual operation mode, the work efficiency, data accuracy and safety are greatly improved.

[0083] In order to improve the timeliness and comprehensiveness of pipeline construction data recording, realize full-factor and full-coverage data extraction of pipeline construction data, and efficiently realize data analysis and processing, so as to accurately and intuitively provide pipeline related data for construction management personnel and operation and maintenance personnel, the embodiment proposes an underground pipeline construction intelligent monitoring method, system and computer readable storage medium realized based on an unmanned aerial vehicle system, realizes an intelligent monitoring mode of construction, recording, modeling and updating at the same time, and greatly improves the data processing efficiency.

[0084] The unmanned aerial vehicle is used to replace manual work to obtain surveying and mapping data. According to the type of the equipment carried, high-resolution image information, digital elevation information and infrared information can be obtained. During the flight, accurate autonomous positioning can be performed, and the flight path can be planned according to the task list, so that multi-directional data information can be quickly and efficiently obtained at a low cost. At the same time, during the flight, the instructions of the management personnel can be accepted, and the original work plan can be adjusted according to the analysis of the ground construction data, so as to realize the all-around intelligent monitoring of the construction process data.

[0085] The pipeline construction intelligent monitoring method can be applied to various use scenarios, such as underground pipeline construction of thermal power plants, data measurement of pipeline layout in chemical plant areas, and data acquisition of municipal engineering water supply and drainage pipeline construction. The introduction of external technical means improves the automation and intelligent level of the construction process. The intelligent extraction and modeling of high-precision underground pipeline three-dimensional data are realized, the value of digital assets is brought into play, and a large amount of underground pipeline detection work and cost are saved for subsequent power plant operation and expansion work.

[0086] Embodiment two:

[0087] The embodiment provides a kind of underground pipeline construction intelligent monitoring system for executing the monitoring method described in embodiment one, Figure 3 An example of the structure of the system is shown, which includes an intelligent monitoring platform and a UAV. The intelligent monitoring platform includes a server, a front-end display, and can communicate with a handheld terminal of a management personnel and a UAV.

[0088] In specific implementation, the intelligent monitoring platform can include: an indication module for issuing pipeline monitoring instructions to form regional image acquisition tasks according to the instructions; a data receiving module for receiving image data returned by the UAV; an image analysis module for analyzing and processing the received images to form orthophoto DOM and digital surface model DSM results; an image recognition module for intelligently recognizing pipelines in DOM based on the image analysis results, automatically converting the recognized images into pipeline planar vector data, and extracting pipe top elevation data from DSM within the vector data range; and a model construction module for obtaining plant area pipeline design data, integrating pipeline planar vector data and pipe top elevation data, and realizing three-dimensional modeling of plant area pipeline construction status.

[0089] The UAV includes a UAV system, which serves as a medium for interaction between the UAV and the UAV, and is used to instruct the UAV to perform work tasks and return the collected images to the intelligent monitoring platform. The UAV can be one or multiple working cooperatively, and the system can be an assembly system or a distributed system.

[0090] The arrangement of the above modules is not limited to the above-described manner, and can be a whole or divided into multiple modules according to functional needs.

[0091] Embodiment three:

[0092] The embodiment of the present application further provides a computer readable storage medium, which has a computer program stored thereon, and the program is executed by a processor to realize the steps of the method in the embodiment one.

[0093] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt a computer program product in the form of being implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0094] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be realized by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices generate a device implemented in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the functions specified in one or more flows and / or blocks.

[0095] These computer program instructions can also be stored in a computer readable memory that can direct the computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including instruction apparatus, which realizes the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the functions specified in one or more flows and / or blocks.

[0096] These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operation steps are performed on the computer or other programmable data processing device to produce a computer implemented process, so that the instructions executed on the computer or other programmable device provide a process for realizing the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the functions specified in one or more flows and / or blocks.

[0097] The above merely describes the preferred embodiments of the present application, and it should be pointed out that, for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.

Claims

1. An intelligent monitoring method for underground pipeline construction, characterized by, The method comprises the following steps: Receiving an underground pipeline monitoring instruction, forming a regional image acquisition task according to the instruction, and sending the task to a UAV to control the UAV to execute the regional image acquisition task; The receiving of the underground pipeline monitoring instruction comprises: displaying regional map information, and specifying a point and / or delimiting a range and / or delimiting a line by a user according to the map to control the UAV to acquire pipeline data of the specified region; The execution of the regional image acquisition task comprises: analyzing the instruction to obtain geographical position information and / or required operations contained in the instruction, forming a task series, and controlling the UAV to go to a target location to execute the task; Acquiring the acquired image, and analyzing and processing the acquired image to form a DOM and a DSM result; According to the acquired image analysis result, an image recognition technology is used to intelligently recognize pipelines in the DOM; after the recognition is completed, the recognized image is automatically converted into pipeline planar vector data; the intelligent recognition comprises: recognizing a pipeline and a connection re-inspection, determining a start and end position of the pipeline and accessories, and related size data, and converting the data into vector data; Extracting pipe top elevation data from the DSM result in the range of the pipeline planar vector data to obtain the pipe top elevation data; Acquiring plant area pipeline design data, integrating the pipeline planar vector data and the pipe top elevation data, and realizing three-dimensional modeling of a plant area pipeline construction state; the UAV provides a site monitoring function for platform remote personnel and handheld terminal personnel, and enables the personnel to watch a real-time return picture and issue a voice instruction to the site.

2. The intelligent monitoring method for underground pipeline construction according to claim 1, characterized in that, The method further comprises: As the construction process advances, the UAV is controlled to execute a multi-period image acquisition task as required, to correspondingly acquire a DOM and a DSM result data of a multi-period regional range, to update the constructed three-dimensional model, and to record the content of each update.

3. The intelligent monitoring method for underground pipeline construction according to claim 1, characterized in that, The method for acquiring the acquired image comprises: connecting with a data reading device carried on the UAV to acquire the acquired image; The data reading device comprises at least one of a high-resolution camera, a laser radar sensor, an RFID reader, an infrared sensor, and a depth sensor; the acquired image comprises ground high-resolution images and elevation data information.

4. The intelligent monitoring method for underground pipeline construction of claim 1, wherein, The method for receiving the underground pipeline monitoring instruction further comprises: According to construction information, automatically issuing a monitoring instruction to control the UAV to acquire image data of a corresponding region; The construction information comprises a construction progress and / or received early warning information.

5. The intelligent monitoring method for underground pipeline construction of claim 1, wherein, The method for controlling the UAV to execute the regional image acquisition task comprises: According to a set rule, a path of the UAV is planned, and the UAV is controlled to execute an image acquisition task according to the planned path; The set rule comprises from near to far or from center to edge.

6. The intelligent monitoring method for underground pipeline construction of claim 1, wherein, The method for controlling the UAV to execute the regional image acquisition task further comprises: During the monitoring process, the UAV monitors ground construction personnel and / or equipment, and when the number exceeds a preset threshold, the region is recorded as a focus to acquire multi-angle image information; After obtaining the image information, the unmanned aerial vehicle is controlled to identify the pipelines, nodes and connecting devices on the ground, to perform line inspection and monitoring, to obtain attribute information of the pipelines and connecting devices, to measure the line angle and height, and to give a warning when an abnormality exists.

7. The intelligent monitoring method for underground pipeline construction of claim 1, wherein, The method further comprises: According to the obtained monitoring data, the construction data is compared, the construction progress is evaluated and predicted, and a construction progress suggestion is given.

8. An intelligent monitoring system for underground pipeline construction, characterized by, The system comprises an intelligent monitoring platform and an unmanned aerial vehicle. The intelligent monitoring platform comprises: An instruction module for receiving pipeline monitoring instructions, forming a regional image collection task according to the instructions, and sending the task to the unmanned aerial vehicle to control the unmanned aerial vehicle to execute the regional image collection task; the receiving of the underground pipeline monitoring instructions comprises displaying regional map information, and a user specifying a point and / or delineating a range and / or delineating a line according to the map to control the unmanned aerial vehicle to obtain pipeline data of the specified region; a data receiving module for receiving image data returned by the unmanned aerial vehicle; An image analysis module for analyzing and processing the received images to form orthophoto DOM and digital surface model DSM results; An image recognition module for intelligently recognizing pipelines in the orthophoto DOM according to the obtained image analysis results by using image recognition technology, automatically converting the recognized images into pipeline planar vector data after the recognition is completed, extracting pipe top elevation data from the digital surface model DSM results within the range of the pipeline planar vector data to obtain the pipe top elevation data; the intelligent recognition comprises recognizing the pipeline and connecting devices, determining the start and end positions of the pipeline and accessories, and related size data, and converting the data into vector data; A model construction module for obtaining plant area pipeline design data, integrating the pipeline planar vector data and the pipe top elevation data, and realizing three-dimensional modeling of the plant area pipeline construction status; The unmanned aerial vehicle is used to receive and execute the regional image collection task, collect images, and return the collected images to the intelligent monitoring platform; the execution of the regional image collection task comprises analyzing the instructions, obtaining geographic location information and / or required operations contained in the instructions, forming a task series, and controlling the unmanned aerial vehicle to go to the target location to execute the task; the unmanned aerial vehicle provides on-site monitoring functions for platform remote personnel and handheld terminal personnel, allowing them to watch the returned pictures in real time and issue voice instructions to the on-site personnel.

9. A computer-readable storage medium, characterized in that, The medium stores program instructions, which are executed by a processor to control an electronic device and an unmanned aerial vehicle to perform the steps of the method according to any one of claims 1-7.

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