An intelligent optical detection device and detection method for pipeline safety detection

Abstract

The present invention relates to an intelligent optical detection device and a detection method for pipeline safety detection, belonging to the technical field of pipeline detection. The device includes: an electronic cabin and an optical cabin at the center of its front end, and a sealed leather cup for providing power sleeved outside the electronic cabin respectively. Among them, the optical cabin includes an optical cover, an optical sensing unit and a high-brightness lighting unit. The optical sensing unit is used for video recording, photographing and three-dimensional scanning of the inside of the pipeline; the measurement and control circuit assembly in the electronic cabin is connected to and controls the optical detection unit and the high-brightness lighting unit. The present invention is applied to long-distance gas pipelines, realizing automatic video recording, photographing and three-dimensional modeling of the inside of the pipeline by gas, and meeting the requirement of fine monitoring of the three-dimensional change trend of the inner wall of the pipeline.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline detection, and in particular relates to an intelligent optical detection device and a detection method for pipeline safety detection. Background Art

[0002] Gas pipelines may be affected by material defects, corrosion, construction and external interference, which may cause defects such as pipeline stress concentration, deformation, corrosion thinning, cracks, etc., leading to reduced transportation efficiency, medium leakage and other safety accidents. In particular, once flammable gas leaks, it will cause significant economic losses and casualties.

[0003] At present, gas pipeline detection technologies all use various electromagnetic signals, or use the detector's own speed, inertia, temperature, pressure and other sensor devices to indirectly analyze the corrosion conditions inside the pipeline. It is impossible to visually observe and detect the specific corrosion conditions and details inside the pipeline, so the detection error is large.

[0004] In addition, the existing detectors do not have their own power devices, and their operation in the gas pipeline is completely dependent on the pressure difference of the medium. The staff cannot monitor and control the operation of the pipeline detector. Since the detector needs to run in the pipeline for a long time, it is inevitable that there will be unstable operation, acceleration and deceleration, instantaneous stagnation or even blockage, which will affect the quality of the detection data. The harsh working conditions make it more difficult to analyze the pipeline data.

[0005] During the long-term operation of the pipeline, due to the long-term geological environment and repeated fatigue of the pipeline gas pressure, the pipeline will be deformed by force. If the pipeline is not reinforced or replaced in time, the pipeline will eventually have hidden cracks, ruptures and even gas leaks. The existing technology has no good solution for monitoring the deformation trend of the pipeline. Summary of the invention

[0006] In view of the above deficiencies in the prior art, the present invention aims to provide an intelligent optical detection device and detection method for pipeline safety detection, so as to solve the problem that the existing pipeline detection technology cannot provide accurate three-dimensional information inside the pipeline.

[0007] An intelligent optical detection device for pipeline safety detection includes: an optical cabin, an electronic cabin, and a sealing leather cup; wherein:

[0008] The optical cabin is installed at the front center of the electronic cabin, and includes an optical cover, an optical sensing unit and a high-brightness lighting unit; wherein the optical sensing unit is used to record, take photos and perform three-dimensional scanning inside the pipeline; the high-brightness lighting unit includes a high-brightness light source for lighting a dark environment;

[0009] The electronic cabin includes a measurement and control circuit assembly inside; wherein, the measurement and control circuit assembly is electrically connected to and controls the opening and closing of the optical detection unit and the high-brightness illumination unit, and is used for processing sensing data.

[0010] The sealing leather cup is arranged outside the electronic cabin to achieve sealing and plugging inside the pipeline.

[0011] Further, between the optical cabin and the sealing leather cup, a pressure plate, a guiding plate and a spacer are sequentially fixed by bolts; the optical cover is fixed at the front end of the electronic cabin through the pressure plate; the guiding plate is used for guiding the advancing direction.

[0012] Further, the measurement and control circuit assembly includes: a main control unit, an image processing unit and an external communication interface.

[0013] The main control unit is used for controlling the turning on of the high-brightness illumination unit when the pipeline ambient light brightness is lower than a preset brightness and the device travels more than a preset distance inside the pipeline, and then controlling the start of the optical sensing unit to start continuous video recording and three-dimensional scanning to obtain the ambient image data and three-dimensional scanning data; for controlling the optical sensing unit to turn on the photo-taking mode in response to a preset state; for receiving and storing the image data from the image processing unit; and for performing data exchange with external devices through the external communication interface.

[0014] The optical sensing unit includes an image sensor and a laser three-dimensional scanner; wherein,

[0015] The image sensor is used for video recording and photo-taking of the pipeline internal environment to obtain ambient image data; the ambient image data is transmitted to the image processing unit through the optical sensing unit for image processing.

[0016] The image processing unit completes image acquisition, caching, image resolution adjustment and image compression, and transmits the processed image data to the main control unit.

[0017] The laser three-dimensional scanner is used for three-dimensional scanning of the pipeline.

[0018] The preset state includes: the change value of the attitude data vector is greater than the attitude threshold; the running speed of the device is greater than the speed threshold; or, the traveling mileage of the device is less than the preset distance for 10 consecutive minutes, and the change amplitude of the axial acceleration vector is less than the acceleration threshold for 10 consecutive minutes.

[0019] Further, the tail end of the electronic cabin further includes: a tail frame and multiple groups of mileage units; wherein,

[0020] Each group of the mileage units is used for collecting the traveling mileage data of the intelligent optical detection device.

[0021] Furthermore, the measurement and control circuit assembly further includes: an inertial measurement unit; wherein,

[0022] The inertial measurement unit is used to obtain attitude data and acceleration data.

[0023] Furthermore, for the three-dimensional scanning, by placing the laser three-dimensional scanner at the center position of the pipeline and performing circumferential scanning to obtain the distance data between the pipeline center and the inner wall of the pipeline, the main control unit superimposes the distance data and the driving mileage data at the same moment to obtain a set of three-dimensional scanning data; the three-dimensional scanning data is used to perform three-dimensional modeling on the pipeline to obtain the pipeline change situation.

[0024] Furthermore, the measurement and control circuit assembly further includes: a storage unit; wherein,

[0025] The storage unit includes a storage controller and a storage device electrically connected to the storage controller, and is used to store sensing data and the data generated during the calculation process; wherein, the storage controller is electrically connected to the main control unit.

[0026] Furthermore, an intelligent optical detection method based on the intelligent optical detection device for pipeline safety detection is characterized in that,

[0027] Place the intelligent optical detection device into the launching cabin located at the inlet end of the gas pipeline to be inspected. After powering on and initializing, enable the mileage unit to obtain driving mileage data, and enable the inertial measurement unit to obtain attitude data and acceleration data; use a metal rod to push the tail frame to make the intelligent optical detection device enter the gas pipeline to be inspected; the optical detection device is pushed forward by the pressure of the gas in the pipeline to perform pipeline detection;

[0028] The pipeline detection includes: when the ambient light brightness of the pipeline is lower than the preset brightness and the device travels more than the preset distance in the pipeline, the main control unit automatically turns on the high-brightness lighting unit, and then starts the optical sensing unit to start continuous video recording and three-dimensional scanning to obtain the ambient image data and three-dimensional scanning data;

[0029] After completing the pipeline detection, use the receiving rod to pull the intelligent optical detection device that has moved to the outlet end of the gas pipeline into the receiving cabin to enter the receiving state, turn off the video recording, lighting and three-dimensional scanning, and take out the intelligent optical detection device from the pipeline.

[0030] Furthermore, the three-dimensional scanning data is obtained by placing the laser three-dimensional scanner at the center position of the pipeline and performing circumferential scanning to obtain the distance data between the pipeline center and the inner wall of the pipeline. The main control unit superimposes the distance data and the driving mileage data at the same moment to obtain a set of three-dimensional scanning data; the three-dimensional scanning data is used to perform three-dimensional modeling on the pipeline to obtain the pipeline change situation.

[0031] Further, the pipeline detection further includes:

[0032] If the main control unit determines that the current state is in a preset state, it sends a photographing instruction to the optical detection unit;

[0033] After receiving the photographing instruction, the optical detection unit performs continuous photographing at a preset photographing interval;

[0034] The preset state includes: the change value of the attitude data vector is greater than the attitude threshold; the running speed of the device is greater than the speed threshold; or, the traveling mileage of the device within 10 consecutive minutes is less than the preset distance, and the change amplitude of the axis acceleration vector within 10 consecutive minutes is less than the acceleration threshold.

[0035] The beneficial effects of the present invention are as follows:

[0036] The intelligent optical detection device for gas pipelines disclosed by the present invention is applicable to gas pipelines and can be applied to high-pressure gas pipelines. The device cabin and each component can withstand the harsh environments of high temperature and high pressure inside the pipeline, and it can be applied to long-distance gas pipelines. It can also perform real-time video recording throughout the pipeline detection process and extract three-dimensional scan data of the pipeline, and take high-definition photos and records for special working conditions such as unstable operation, acceleration and deceleration, momentary jamming, and even blockage. It realizes the acquisition of optical working condition data of the pipeline, and can store the photographed and video data for later analysis of the detailed conditions of different working conditions of the pipeline and the pipeline situation, providing more comprehensive data support for establishing a pipeline model. The present invention realizes automated testing, reduces potential hazards caused by excessive manual operations, improves testing efficiency, and is of great significance for understanding the three-dimensional fine information of the detection device inside the pipeline and subsequent comparison and analysis of historical data. Description of the Drawings

[0037] The drawings are only for the purpose of showing specific embodiments and are not considered as a limitation of the present invention. Throughout the drawings, the same reference signs represent the same components. Obviously, the drawings in the following description are only some embodiments recorded in the embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings.

[0038] Figure 1 It is a side view of the structure of the intelligent optical detection device for pipeline safety detection according to an embodiment of the present invention;

[0039] Figure 2 It is a perspective view of the structure of the intelligent optical detection device for pipeline safety detection according to an embodiment of the present invention;

[0040] Figure 3 It is a schematic diagram of the structure of the intelligent optical detection device for pipeline safety detection according to an embodiment of the present invention;

[0041] Figure 4 This is the flowchart of the working process of the intelligent optical detection device for pipeline safety detection in the embodiments of the present invention.

[0042] Reference numerals

[0043] 1, optical cabin; 2, pressure plate; 3, guide plate; 4, sealing leather cup; 5, spacer; 6, electronic cabin; 7, sealing leather cup; 8, mileage unit; 9, tailstock; 10, connecting flange. Detailed implementation manners

[0044] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the preferred embodiments of the present invention will be specifically described below with reference to the accompanying drawings. The accompanying drawings form a part of this application and are used together with the embodiments of the present invention to describe the principles of the present invention. However, it should be understood that these descriptions are only exemplary and are not used to limit the scope of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention shall fall within the scope of protection of the present invention.

[0045] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly defined and limited, the term "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0046] The terms "top", "bottom", "above...", "under" and "on..." described throughout the text are relative positions with respect to the components of the device, such as the relative positions of the top and bottom substrates inside the device. It can be understood that the device is multifunctional and has nothing to do with its orientation in space.

[0047] In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts disclosed in the present invention. Without conflict, the following embodiments and the features in the embodiments can be combined with each other and / or the relative position relationships can be interchanged.

[0048] Device embodiments

[0049] An intelligent optical detection device for pipeline safety detection, comprising: an optical cabin, an electronic cabin, and a sealing leather cup; wherein, the optical cabin is installed at the front center position of the electronic cabin and includes an optical cover, an optical sensing unit, and a high-brightness lighting unit; wherein, the optical sensing unit is used for video recording, photographing, and three-dimensional scanning and modeling of the interior of the pipeline; the high-brightness lighting unit includes a high-brightness light source for lighting in a dark environment; the electronic cabin internally includes a measurement and control circuit assembly; wherein, the measurement and control circuit assembly is electrically connected to and controls the opening and closing of the optical detection unit and the high-brightness lighting unit, and is used for processing sensing data; the sealing leather cup is arranged outside the electronic cabin to achieve sealing and plugging inside the pipeline.

[0050] This embodiment can perform real-time video recording throughout the pipeline detection process and extract three-dimensional scanning data of the pipeline, and take high-definition photos of special working conditions such as unstable operation, acceleration and deceleration, instantaneous jamming, or even blockage, providing more comprehensive data support for establishing a three-dimensional model of the pipeline. It will be of great significance for understanding the three-dimensional fine information of the detection device inside the pipeline and subsequent comparison and analysis of historical data.

[0051] Specifically, as Figure 1 shown in the side view of the structure of the intelligent optical detection device for pipeline safety detection, and Figure 2 shown in the three-dimensional view of the structure of the intelligent optical detection device for pipeline safety detection, a specific embodiment of the present invention discloses an intelligent optical detection device for pipeline safety detection, which includes: an optical cabin 1, a pressure plate 2, a guide plate 3, sealing leather cups 4 and 7, a spacer 5, an electronic cabin 6, a mileage unit 8, a tail frame 9, and a connecting flange 10.

[0052] The middle section of the intelligent optical detection device is the electronic cabin 6. The electronic cabin 6 is a cylindrical structure docked by a connecting flange 10, and the cylinder includes a battery pack and a measurement and control circuit assembly. The sealing leather cup is arranged outside the electronic cabin for sealing and plugging inside the pipeline and providing power for the electronic cabin.

[0053] The front end of the electronic cabin 6 is sequentially and firmly connected to the pressure plate 2, the guide plate 3, the spacer 5, and the sealing leather cup 4 by bolts.

[0054] The rear end of the electronic cabin 6 is sequentially and firmly connected to the sealing leather cup 7, the tail frame 9, and multiple groups of mileage units 8 by bolts.

[0055] Preferably, the electronic cabin 6 is made of steel.

[0056] The optical cabin 1 is installed at the front end of the intelligent optical detection device and is installed at the center position of the pressure plate 2 through a flange. The optical cabin 1 includes an optical cover and an optical sensing unit and a high-brightness lighting unit placed inside the optical head cover.

[0057] Preferably, the optical cabin 1 is made of high-hardness alloy, and the flange seals the cabin in an axial and radial composite sealing manner. The sealing ring is made of rubber that can withstand high temperature and pressure to meet the requirements of withstanding high temperature and pressure.

[0058] The tail end of the intelligent optical detection device includes a tail frame 9 and multiple groups of mileage units 8.

[0059] Among them, the tail frame 9 is used to push the intelligent optical detection device into the service cylinder during the serving process.

[0060] Multiple groups of mileage units 8 are used to record the running mileage of the intelligent optical detection device. During operation, the rollers of multiple groups of mileage units 8 are in contact with the inner wall of the gas pipeline, and mileage signals are collected as the detection device moves.

[0061] Gas pipelines with different diameters need to be detected by intelligent optical detection devices of different specifications.

[0062] As Figure 3 shown in the structural schematic diagram of the intelligent optical detection device for pipeline safety detection.

[0063] The measurement and control circuit assembly includes a main control unit, an image processing unit, an inertial measurement unit (IMU), a storage unit, and an external communication interface.

[0064] Among them, the main control unit is electrically connected to the high-brightness lighting unit, the image processing unit, the storage unit, the inertial measurement unit, multiple groups of mileage units, and the external communication interface respectively. The image processing unit is electrically connected to the optical sensing unit. The battery pack provides power for all electronic devices. Each unit cooperates with each other to complete the optical detection of the pipeline.

[0065] The high-brightness lighting unit contains a high-brightness light source for lighting in a dark environment; when the ambient light brightness in the pipeline is lower than the preset brightness and the device travels more than the preset distance in the pipeline, the main control unit controls the high-brightness lighting unit to turn on, and then controls the optical sensing unit to start continuous video recording and three-dimensional scanning.

[0066] The optical sensing unit includes an image sensor and a laser three-dimensional scanner.

[0067] Among them, the image sensor is used to record videos and take pictures of the inside of the pipeline, and transmits the environmental image data to the image processing unit for processing.

[0068] The laser three-dimensional scanner is used to perform three-dimensional scanning of the inside of the pipeline.

[0069] For the three-dimensional scanning, the laser three-dimensional scanner is placed at the center of the pipeline to perform circumferential scanning to obtain the distance data between the pipeline center and the inner wall of the pipeline. The main control unit superimposes the distance data and the driving mileage data at the same moment to obtain a set of three-dimensional scanning data. The three-dimensional scanning data is used to perform three-dimensional modeling of the pipeline and compare it with historical scanning data, thereby obtaining the pipeline change situation and detecting pipeline deformation and cracks.

[0070] The image processing unit completes image acquisition, caching, image resolution adjustment, image compression and storage, etc., and separates a large amount of computational work for real-time video processing from the main control unit, reducing the working pressure of the main control unit. By adjusting the image resolution, the details are displayed more clearly, increasing the detection accuracy; by image compression, the image size is reduced to meet long-distance detection requirements.

[0071] The inertial measurement unit is used to obtain attitude data and acceleration data.

[0072] Exemplarily, the image sensor uses a PLK310 pan-tilt camera to transmit real-time data to the FPGA chip of the image processing unit through the HDMI2.0 interface. The FPGA chip of the image processing unit uses a Kintex-7XC7K410T to connect to the DDR3 memory to process image acquisition, caching, image resolution adjustment, image compression and storage, etc., and transmits the processed image data to the main control unit through the PICE high-speed interface.

[0073] The main control unit includes a main controller and a memory, and is used for the coordinated work of each unit and analyzing and recording the working conditions.

[0074] Exemplarily, the main controller uses an IMX6Q processor and uses DDR3 memory as the operating memory and data cache. The Linux operating system runs on the IMX6Q processor, and the image library system OpenCV and the machine learning framework TensorFlow run on the Linux operating system to implement image processing and image transmission, such as operations like image denoising, image sharpening, target recognition and classification, and high-speed data storage to a solid-state drive.

[0075] After the system is powered on, the main control unit will initialize the image processing unit, inertial measurement unit, mileage unit, and optical sensing unit in sequence. After the system completes the initialization, it can work normally. When the system is initialized, a speed threshold V and a number of photos N will be set. If the intelligent optical detection device travels less than 1 meter in 10 consecutive minutes and the change amplitude of the sum of the three-axis acceleration vectors is less than 2g in 10 consecutive minutes, the main control unit determines that the intelligent optical detection device is in a preset state of unstable running speed, acceleration and deceleration, momentary jamming or blockage. When the running speed of the intelligent optical detection device calculated by the main control unit based on the mileage data is greater than the set speed threshold V, it belongs to the preset state of overspeed operation of the intelligent optical detection device. If the intelligent optical detection device is in the preset state, the main control unit sends a photo-taking instruction to the optical detection unit, and the optical detection unit takes photos according to the preset number of photos N.

[0076] The storage unit includes a storage controller and a storage device, and can store a large amount of image data and data generated during the calculation process. The main control unit writes the image data processed by the image processing unit into the storage device through the storage controller, and reads or deletes data from the storage device through the storage controller as needed.

[0077] Exemplarily, the storage device is a high-speed solid-state drive. The solid-state drive is connected to the main control unit through the SATA interface to achieve high-speed storage of video data.

[0078] The external communication interface is used to provide an interface for data exchange with an external computer, including transmitting data to the external computer and receiving parameter configuration instructions from the external computer. It is used to perform data exchange with external devices through the external communication interface.

[0079] Method embodiments

[0080] An intelligent optical detection method for pipeline safety detection, as Figure 4 shown, mainly includes the following steps.

[0081] S1. Power on the intelligent optical detection device.

[0082] Place the intelligent optical detection device in the ball sending cabin at the inlet end of the gas pipeline to be inspected, and then perform the power-on operation.

[0083] After the intelligent optical detection device is powered on, it will initialize the system of the main control unit, inertial measurement unit, mileage unit, and image processing unit in sequence, enable the mileage unit to monitor the driving mileage data, enable the inertial measurement unit to monitor the attitude data, and set the speed threshold V and the number of photos N; after the system initialization is completed, the system enters the normal working state. The speed threshold V and the number of photos N can be preset by an external computer through the external communication interface in advance.

[0084] S2. Enter the serving state.

[0085] After the intelligent optical detection device is powered on, use a metal rod to push the tailstock of the intelligent optical detection device so that the intelligent optical detection device enters the gas pipeline to be detected, and then the intelligent optical detection device enters the serving state.

[0086] The diameters of different gas pipelines are different, and different specifications of intelligent optical detection devices are required for detection.

[0087] After the optical detection device enters the pipeline, it is pushed forward by the pressure of the gas in the pipeline.

[0088] S3. Regular detection in the serving state.

[0089] After the intelligent optical detection device completes system initialization, it performs regular detection in the serving state.

[0090] During regular detection in the serving state, the environmental optical signal is transmitted to the image processing unit through the optical sensing unit, and the image processing unit outputs the processed image data to the main control unit. The mileage unit transmits the mileage data to the main control unit.

[0091] The main control unit performs intelligent classification and recognition on the processed image data. If it is recognized that the current environment is a dark environment and the mileage traveled is greater than 5 meters, the main control unit determines that the intelligent optical detection device enters the serving and traveling state; otherwise, the main control unit maintains the regular detection mode in the serving state.

[0092] S4. Start pipeline detection.

[0093] When the intelligent optical detection device enters the serving and traveling state, if the pipeline ambient light brightness is lower than the preset brightness, the main control unit starts the high-brightness lighting unit to expose the internal environment of the pipeline in front of the optical sensing unit;

[0094] Then the main control unit starts the optical sensing unit. Among them, the imaging sensor starts continuous video recording, and the image processing unit receives the environmental image data from the optical sensing unit, completes the work of image acquisition, caching, image resolution adjustment, and image compression storage, etc., and transmits the processed image data to the main control unit;

[0095] The laser 3D scanner starts to perform circumferential scanning to obtain the distance data between the pipeline center and the pipeline inner wall. The main control unit superimposes the distance data with the driving mileage data at the same moment to obtain a set of 3D scanning data; and transmits it to an external computer through the data transmission interface. The external computer uses existing software to use the scanning data for pipeline 3D modeling to obtain the pipeline deformation and crack conditions, and compares them with the historical scanning data to obtain the pipeline deformation condition data.

[0096] The main control unit completes image denoising, image sharpening, target recognition and classification, and stores the data in the solid-state drive.

[0097] S5. Detection of the ball collection state.

[0098] After starting the video recording, the intelligent optical detection device cyclically performs the detection of the ball collection state and the detection of special situations.

[0099] After the intelligent optical detection device completes the pipeline detection, it moves to the outlet end of the gas pipeline. At this time, the intelligent optical detection device is pulled into the ball collection chamber by the ball collection rod to enter the ball collection state. The system turns off the video recording, lighting and 3D scanning, and then the intelligent optical detection device can be taken out.

[0100] S6. Detection of the preset state.

[0101] When the intelligent optical detection device is working, the inertial measurement unit and the mileage unit will transmit the relevant operation data to the main control unit. The main control unit judges whether the intelligent optical detection device is in the preset state through data fusion operation.

[0102] The process of the preset state detection is as follows:

[0103] The main control unit analyzes and judges the data from each unit: when the change value of the attitude data vector from the inertial measurement unit exceeds 30°, it belongs to the preset state that the intelligent optical detection device passes through the elbow or the reduced diameter;

[0104] When the main control unit calculates the running speed of the intelligent optical detection device according to the mileage data from the mileage unit and is greater than the set speed threshold V, it belongs to the preset state that the intelligent optical detection device runs overspeed;

[0105] When the intelligent optical detection device travels a mileage less than 1 meter continuously for 10 minutes, and the change amplitude of the axial acceleration vector of the device is less than 2g continuously for 10 minutes, it belongs to the preset state that the running speed of the intelligent optical detection device is unstable, with acceleration and deceleration, momentary jamming or blockage.

[0106] If the intelligent optical detection device is in the preset state, the main control unit sends a photographing instruction to the optical detection unit.

[0107] S7. The optical detection unit enters the photographing mode.

[0108] After receiving the photographing instruction, the optical detection unit takes continuous photographs at a preset photographing interval; the number of photographing times is N times. The image processing unit acquires the photographing data and processes the transmitted image data, such as can complete image acquisition, caching, adjustment of image resolution and image compression, etc. The main control unit writes the image data processed by the image processing unit into the storage device through the storage controller.

[0109] When a jamming situation occurs, to avoid taking a large number of repeated photos, repeated photos are not taken during the photo-taking interval; for example, when the traveling mileage of the intelligent optical detection device is less than 1 meter continuously for 10 minutes, only one continuous photo is taken during the jamming process.

[0110] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention. Any changes or replacements that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An intelligent optical detection device for pipeline safety detection, characterized in that, Including: An optical cabin, an electronic cabin, and a sealing leather cup; wherein, The optical cabin is installed at the front center position of the electronic cabin and includes an optical cover, an optical sensing unit, and a high-brightness lighting unit; wherein, the optical sensing unit is used for video recording, photographing, and three-dimensional scanning of the inside of the pipeline; the high-brightness lighting unit includes a high-brightness light source for lighting in a dark environment; The electronic cabin internally includes a measurement and control circuit assembly; wherein, the measurement and control circuit assembly is electrically connected to and controls the opening and closing of the optical sensing unit and the high-brightness lighting unit, and is used for processing sensing data; The sealing leather cup is arranged outside the electronic cabin to achieve sealing and plugging inside the pipeline and provide power for the electronic cabin; Between the optical cabin and the sealing leather cup, a pressure plate, a guiding plate, and a spacer are sequentially fixed by bolts; the optical cover is fixed to the front end of the electronic cabin through the pressure plate; the guiding plate is used for guiding the advancing direction; The measurement and control circuit assembly includes a main control unit; the main control unit is used for controlling the optical sensing unit to turn on the photographing mode in response to a preset state; The preset state includes: the change value of the attitude data vector is greater than the attitude threshold; the running speed of the device is greater than the speed threshold; or, the traveling mileage of the device within 10 consecutive minutes is less than the preset distance, and the change amplitude of the axial acceleration vector within 10 consecutive minutes is less than the acceleration threshold.

2. The intelligent optical detection device for pipeline safety detection according to claim 1, wherein The measurement and control circuit assembly further includes: an image processing unit and an external communication interface; The main control unit is used for controlling the turning on of the high-brightness lighting unit in response to the pipeline ambient light brightness being lower than the preset brightness and the device traveling more than the preset distance in the pipeline, and then controlling the start of the optical sensing unit to start continuous video recording and three-dimensional scanning to obtain the image data and three-dimensional scanning data of the environment; for receiving and storing the image data from the image processing unit; and for performing data exchange with external devices through the external communication interface; The optical sensing unit includes an image sensor and a laser three-dimensional scanner; wherein, The image sensor is used for video recording and photographing the internal environment of the pipeline to obtain the image data of the environment; the image data of the environment is transmitted to the image processing unit through the optical sensing unit for image processing; The image processing unit completes image acquisition, caching, image resolution adjustment, and image compression, and transmits the processed image data to the main control unit; The laser three-dimensional scanner is used for three-dimensional scanning of the pipeline.

3. The intelligent optical detection device for pipeline safety detection according to claim 2, wherein, The tail end of the electronic cabin further includes: a tail frame and multiple groups of mileage units; wherein, Each group of the mileage units is used for collecting the traveling mileage data of the intelligent optical detection device.

4. An intelligent optical detection device for pipeline safety detection according to claim 3, characterized in that, The measurement and control circuit assembly further includes: an inertial measurement unit; wherein, The inertial measurement unit is used for obtaining attitude data and acceleration data.

5. An intelligent optical detection device for pipeline safety detection according to claim 4, characterized in that, For the three-dimensional scanning, by placing the laser three-dimensional scanner at the center position of the pipeline and performing circumferential scanning to obtain the distance data between the pipeline center and the inner wall of the pipeline, the main control unit superimposes the distance data and the driving mileage data at the same moment to obtain a set of three-dimensional scanning data; the three-dimensional scanning data is used to perform three-dimensional modeling on the pipeline to obtain the pipeline change situation.

6. An intelligent optical detection device for pipeline safety detection according to claim 5, characterized in that, The measurement and control circuit assembly further includes: a storage unit; wherein, The storage unit includes a storage controller and a storage device electrically connected to the storage controller, and is used to store sensing data and the data generated during the calculation process; wherein, the storage controller is electrically connected to the main control unit.

7. An intelligent optical detection method for an intelligent optical detection device for pipeline safety detection according to any one of claims 4-6, characterized in that Place the intelligent optical detection device in the ball sending cabin at the inlet end of the gas pipeline to be detected. After power-on initialization, enable the mileage unit to obtain driving mileage data, and enable the inertial measurement unit to obtain attitude data and acceleration data; use a metal rod to push the tail frame to make the intelligent optical detection device enter the gas pipeline to be detected; the optical detection device is pushed forward by the pressure of the gas in the pipeline to perform pipeline detection. The pipeline detection includes: if the ambient light brightness of the pipeline is lower than a preset brightness and the device travels more than a preset distance in the pipeline, the main control unit automatically turns on the high-brightness lighting unit, and then starts the optical sensing unit to start continuous video recording and three-dimensional scanning to obtain the image data and three-dimensional scanning data of the environment. After the pipeline detection is completed, use a ball receiving rod to pull the intelligent optical detection device that has moved to the outlet end of the gas pipeline into the ball receiving cabin to enter the ball receiving state, turn off the video recording, lighting and three-dimensional scanning, and take out the intelligent optical detection device from the pipeline.

8. An intelligent optical detection method for pipeline safety detection according to claim 7, characterized in that, The three-dimensional scanning data is obtained by placing the laser three-dimensional scanner at the center position of the pipeline and performing circumferential scanning to obtain the distance data between the pipeline center and the inner wall of the pipeline. The main control unit superimposes the distance data and the driving mileage data at the same moment to obtain a set of three-dimensional scanning data; the three-dimensional scanning data is used to perform three-dimensional modeling on the pipeline to obtain the pipeline change situation.

9. An intelligent optical detection method for pipeline safety detection according to claim 8, characterized in that, The pipeline detection further includes: If the main control unit determines that the current state is a preset state, it sends a photographing instruction to the optical sensing unit; After receiving the photographing instruction, the optical sensing unit performs continuous photographing at a preset photographing interval; The preset state includes: the vector change value of the attitude data is greater than the attitude threshold; the running speed of the device is greater than the speed threshold; or, the traveling mileage of the device is less than the preset distance for 10 consecutive minutes, and the vector change amplitude of the axial acceleration is less than the acceleration threshold for 10 consecutive minutes.

Images