A method for inspecting drainage pipe networks and culverts based on a drone swarm

Abstract

The present invention provides a method for inspecting drainage pipe networks and culverts based on a swarm of drones. First, the reconnaissance drone enters the pipe to confirm whether the pipe meets the flight requirements of the drone and draw a general pipe layout diagram. Then, the relay communication positioning drone enters the pipe and forms a communication link inside the pipe to further measure the pipe. The pipe camera drone is used to take ultra-wide-angle photos of the inspected pipe, and the water quality and quantity detection drone and the water sample collection drone are used to perform on-site water quality detection and sampling according to requirements. The present invention uses multiple drones that jointly execute a certain task and are under unified command, and forms a group through network interconnection to achieve a highly intelligent and autonomous aggregate, thereby realizing the inspection of drainage pipe networks and culverts.

Description

Technical Field

[0001] The present invention relates to a method for detecting drainage pipe networks and culverts based on a drone swarm, and belongs to the technical field of municipal environmental engineering. Background Art

[0002] As the elimination rate of urban black and odorous water bodies reaches more than 90%, urban water environment governance projects have gradually shifted to improving the quality and efficiency of sewage treatment plants. During the inspection of the drainage system, it is found that the factors affecting the influent quality and quantity of sewage treatment plants mainly include sewage overflowing into rivers and clean water such as groundwater entering the sewage treatment plant through sewage pipes. For the rain and sewage diversion system, sewage overflow is mainly caused by the misconnection of rain and sewage, and groundwater infiltration is mainly caused by pipeline defects. Other clean water mainly enters the sewage pipeline through the misconnection of rain and sewage, illegal discharging and leakage. One of the purposes of detecting drainage pipe networks and culverts is to locate the sources of sewage or clean water entering the drainage pipe networks and culverts, such as misconnection points, pipeline breakage points, and illegal discharging points.

[0003] At present, the methods for detecting drainage pipe networks and culverts are mainly divided into two types. One is to comprehensively detect pipelines through pipeline detection equipment such as hand-held / vehicle-mounted / boat-mounted CCTV (Closed-Circuit Television) and QV (Quick Video, pipeline periscope) to locate pipeline defects; the other is to use water quality monitoring and water quality and quantity balance calculation to analyze the types and proportions of incoming water in pipelines. This method is further divided into characteristic factor method, tracer method, isotope method, etc. according to different detected water quality indicators. The current pipeline detection method can accurately locate the specific position of defects in the pipeline, but it is necessary to excavate the pipeline at intervals (such as 30 meters) or use existing pipeline inspection wells to put in wired CCTV and QV equipment for detection, which consumes a large amount of manpower and time; the water quality and quantity balance method can determine the approximate range of misconnection and defects through the water quality detection data of a few points, which can greatly reduce the workload, but it cannot accurately locate the specific position of misconnection and defects. Summary of the Invention

[0004] In order to solve the deficiencies of the prior art, the present invention provides a method for detecting drainage pipe networks and culverts based on a drone swarm. By using multiple drones that jointly execute a certain task and are under unified command, a group is formed through network interconnection to achieve a highly intelligent and autonomous aggregate, thereby realizing the detection of drainage pipe networks and culverts.

[0005] The technical solution adopted by the present invention to solve its technical problems is: to provide a method for detecting drainage pipe networks and culverts based on a drone swarm, including the following steps:

[0006] S1. Form a drone swarm; the drone swarm consists of a group of drones equipped with millimeter-wave radars, basic communication modules, and quick interfaces. Each drone carries a functional module through the quick interface. The functional modules include a reconnaissance module, a relay communication and positioning module, a pipeline camera module, a water sample collection module, and a water quality and quantity detection module. The drones carrying the corresponding functional modules are reconnaissance drones, relay communication and positioning drones, pipeline camera drones, water sample collection drones, and water quality and quantity detection drones respectively;

[0007] S2. The reconnaissance drone is first launched into the pipeline to monitor the combustible gas in the pipeline, judge the pipeline diameter, water level, and siltation conditions, and confirm whether the pipeline meets the requirements for drone flight. If it meets the requirements for drone flight, then detect and estimate the length and orientation of the pipeline to draw a general pipeline trend chart and share it with other drones;

[0008] S3. Launch relay communication and positioning drones into the pipeline according to the pipeline trend chart, so that at least one relay communication and positioning drone hovers at each branch of the pipeline to form a communication link. At the same time, each relay communication and positioning drone measures the pipeline diameter, length, and water level through the triangulation method of millimeter-wave radar and communication signals, and obtains a pipeline map in combination with the pipeline trend chart. For other drones in the pipeline, determine their relative positions in the pipeline and feedback them to the drone;

[0009] S4. Launch pipeline camera drones into the pipeline, fly according to the pipeline map, take ultra-wide-angle photos, store the position information in the photos, and transmit the photos back to the ground computer through the network for three-dimensional reconstruction of the internal structure of the pipeline and identification of pipeline defects;

[0010] S5. When it is necessary to quickly detect the water quality or quickly estimate the flow rate at the sewage pipe in the culvert, use a water quality and quantity detection drone equipped with a corresponding water quality and quantity detection probe to conduct on-site detection of the water sample at that place to preliminarily judge the water quality and quantity of the incoming water;

[0011] S6. When it is necessary to take a sample or further analyze the pipeline water sample, use a water sample collection drone to collect the corresponding water sample to the laboratory for testing.

[0012] The main body of the reconnaissance module includes a multi-gas detector and a low-pixel camera.

[0013] The relay communication and positioning module uses a 4G communication module with relay communication function.

[0014] The pipeline camera module uses a fish-eye camera.

[0015] The main body of the water sample collection module includes a multi-water sample collection device and a low-pixel camera.

[0016] The main body of the water quality and quantity detection module includes corresponding water quality and quantity detection probes and a low-pixel camera.

[0017] During the process from step S2 to S6, when the feedback signal of the UAV weakens to a certain extent, release the relay communication positioning UAV into the pipeline to form a communication link inside the pipeline.

[0018] The beneficial effects of the present invention based on its technical solution are as follows:

[0019] (1) A method for detecting and investigating drainage pipe networks and culverts based on a UAV swarm provided by the present invention uses the UAV swarm to carry 4G communication modules and introduce the 4G signal outside the pipeline into the pipe network in the form of relay communication to achieve communication and data transmission in the municipal drainage pipe network and culverts. Each UAV only carries one module, effectively reducing the takeoff weight of the UAV and achieving the purpose of reducing the volume of the UAV to be suitable for the detection of drainage pipe networks (generally with a diameter of 0.3 - 0.6 m) and culverts (generally with a size of more than 1 m * 1 m).

[0020] (2) A method for detecting and investigating drainage pipe networks and culverts based on a UAV swarm provided by the present invention is based on the realization of internal pipeline communication. The UAV swarm carries fish-eye cameras to take ultra-wide-angle photos of the inspected pipelines, store the relative position information in the photos, and then transmit the photos to a computer on the ground through the network for three-dimensional reconstruction of the inside of the pipeline. It is possible to further use manual or AI to identify misconnections and defects, and quickly and accurately locate the specific positions of misconnections and defects in the pipeline without excavation and without sending people down.

[0021] (3) A method for detecting and investigating drainage pipe networks and culverts based on a UAV swarm provided by the present invention is based on the realization of internal pipeline communication. The UAV swarm carries a water sample collection module or a water quality and quantity detection module to achieve water sample collection, rapid water quality detection, and rapid water quantity estimation at the sewage discharge pipe in the culvert. Description of the Drawings

[0022] Figure 1 It is a schematic diagram of the distribution of the UAV swarm in the specific embodiment of the present invention.

[0023] In the figure, 1 - reconnaissance UAV, 2 - relay communication positioning UAV, 3 - pipeline camera UAV, 4 - water sample collection UAV or water quality and quantity detection UAV. Specific Embodiment

[0024] The present invention will be further described below with reference to the drawings and embodiments.

[0025] The present invention provides a method for detecting and investigating drainage pipe networks and culverts based on a UAV swarm, including the following steps:

[0026] S1. Form a drone swarm; the drone swarm consists of a group of drones equipped with millimeter-wave radars, basic communication modules, and quick connectors. Each drone carries a functional module through the quick connector. The functional modules include a reconnaissance module, a relay communication and positioning module, a pipeline camera module, a water sample collection module, and a water quality and quantity detection module. The implementation methods and functions of the main bodies of each module are as follows:

[0027] Reconnaissance module: The main body consists of a multi-gas detector and a low-pixel camera. The multi-gas detector is used to detect the concentration of combustible gases such as methane and hydrogen sulfide and oxygen in the pipeline, preventing the drone swarm from entering areas where the combustible gas reaches the explosion limit; the low-pixel camera is used to detect and estimate initial pipeline information such as pipe diameter, length, pipeline orientation, water level, or siltation conditions.

[0028] Relay communication and positioning module: The main body is a 4G communication module with relay communication function. In the form of relay communication, it introduces the 4G signal outside the pipe network into the pipe network to achieve communication and data transmission inside the pipeline, and locates the positions of each drone in the pipeline through methods such as triangulation of millimeter-wave radar and 4G signals.

[0029] Pipeline camera module: The main body is a fish-eye camera, which can take ultra-wide-angle photos of the pipeline and store the relative position information in the photos. Then, the photos are transmitted to a computer on the ground through the network for three-dimensional reconstruction of the inside of the pipeline to discover pipeline misconnections and defect positions.

[0030] Water sample collection module: The main body is a multi-water sample collection device and a low-pixel camera, which is used for water sample collection and taking photos of the collection points at positions such as sewage pipes in culverts. It can collect multiple specific water samples ranging from several mL to dozens of mL according to requirements and send them to the ground for detection.

[0031] Water quality and quantity detection module: The main body can be various water quality detection probes (such as five parameters of pH / conductivity / dissolved oxygen / turbidity / temperature, ammonia nitrogen, chemical oxygen demand, flow rate, water level, etc.) and a low-pixel camera, which is used for rapid water quality detection or rapid flow rate estimation and taking photos of the detection points at sewage pipes in culverts.

[0032] The drones equipped with corresponding functional modules are respectively reconnaissance drones, relay communication and positioning drones, pipeline camera drones, water sample collection drones, and water quality and quantity detection drones.

[0033] S2. First, the reconnaissance drone 1 is launched and enters the pipeline to monitor the combustible gas in the pipeline, judge the pipe diameter, water level, and siltation conditions in the pipeline, and confirm whether the pipeline meets the flight requirements of the drones; if it meets the flight requirements of the drones, then detect and estimate the length and orientation of the pipeline to draw a general pipeline trend chart and share it with other drones.

[0034] S3. Fly the relay communication positioning UAV 2 into the pipeline according to the pipeline trend chart, so that at least one relay communication positioning UAV hovers at each branch of the pipeline to form a communication link. At the same time, each relay communication positioning UAV measures the pipe diameter, length and water level of the pipeline through the triangulation method of millimeter-wave radar and communication signals, and obtains the pipeline map by combining the pipeline trend chart; for other UAVs in the pipeline, determine their relative positions in the pipeline and feedback them to the UAV.

[0035] S4. Fly the pipeline camera UAV 3 into the pipeline, fly according to the pipeline map, take ultra-wide-angle photos, store the position information in the photos, and transmit the photos back to the ground computer through the network for three-dimensional reconstruction of the internal structure of the pipeline and identification of pipeline defects.

[0036] S5. When rapid water quality detection or rapid flow estimation of the sewage pipe in the culvert is required, use the water quality and quantity detection UAV equipped with corresponding water quality and quantity detection probes (such as five parameters of pH / conductivity / dissolved oxygen / turbidity / temperature, ammonia nitrogen, chemical oxygen demand, flow rate, water level, etc.) to conduct on-site detection of the water sample at this place to preliminarily judge the water quality and quantity of the incoming water.

[0037] S6. When it is necessary to retain samples or further analyze the pipeline water sample, use the water sample collection UAV to collect the corresponding water sample to the laboratory for testing.

[0038] The deployment of the water sample collection UAV or the water quality and quantity detection UAV 4 can be arranged according to actual needs.

[0039] During the process of steps S2 to S6, when the signal feedback from the UAV weakens to a certain extent, fly the relay communication positioning UAV into the pipeline to form a communication link in the pipeline.

[0040] The present invention provides a method for inspecting drainage pipe networks and culverts based on a UAV swarm. By using multiple UAVs that jointly execute a certain task and are under unified command, a group is formed through network interconnection to realize a highly intelligent and autonomous aggregate, thereby realizing the inspection of drainage pipe networks and culverts.

Claims

1. A method for inspecting drainage pipe networks and culverts based on a drone swarm, characterized in that It includes the following steps: S1. Form a drone swarm; the drone swarm consists of a group of drones equipped with millimeter-wave radars, basic communication modules, and quick interfaces. Each drone carries a functional module through the quick interface. The functional modules include a reconnaissance module, a relay communication and positioning module, a pipeline camera module, a water sample collection module, and a water quality and quantity detection module. The drones carrying the corresponding functional modules are reconnaissance drones, relay communication and positioning drones, pipeline camera drones, water sample collection drones, and water quality and quantity detection drones respectively; S2. First, the reconnaissance drone takes off and enters the pipeline to monitor the combustible gas in the pipeline, uses the camera to take pipeline photos, discriminates the pipeline diameter, water level, and siltation situation, and confirms whether the pipeline meets the drone flight requirements; if it meets the drone flight requirements, use the millimeter-wave radar and the pipeline pictures taken by the camera to detect the length and branch situation of the pipeline to draw a general pipeline trend chart and share it with other drones; S3. According to the pipeline trend chart, release relay communication and positioning drones into the pipeline so that at least one relay communication and positioning drone hovers at each branch of the pipeline to form a communication link. At the same time, each relay communication and positioning drone measures the pipeline diameter, length, and water level through the triangulation method of millimeter-wave radar and communication signals, and obtains a pipeline map in combination with the pipeline trend chart; for other drones in the pipeline, determine their relative positions in the pipeline and feedback them to the drone; S4. Release pipeline camera drones into the pipeline, fly according to the pipeline map, take ultra-wide-angle photos, store the position information in the photos, and transmit the photos back to the ground computer through the network for three-dimensional reconstruction of the internal structure of the pipeline and identification of pipeline defects; S5. When it is necessary to quickly detect the water quality or quickly estimate the flow rate at the sewage pipe in the culvert, use the water quality and quantity detection drone to carry the corresponding water quality and quantity detection probe to conduct on-site detection of the water sample at that place to preliminarily judge the water quality and quantity of the incoming water; S6. When it is necessary to take samples or further analyze the pipeline water sample, use the water sample collection drone to collect the corresponding water sample to the laboratory for testing.

2. The method for inspecting a drainage pipe network and a culvert based on an unmanned aerial vehicle (UAV) swarm according to claim 1, wherein: The main body of the reconnaissance module includes a multi-gas detector and a low-pixel camera.

3. The method for inspecting drainage pipe networks and culverts based on a drone swarm according to claim 1, wherein: The relay communication and positioning module uses a 4G communication module with relay communication function.

4. The method for inspecting drainage pipe networks and culverts based on a drone swarm according to claim 1, wherein: The pipeline camera module uses a fish-eye camera.

5. The method for inspecting drainage pipe networks and culverts based on a drone swarm according to claim 1, wherein: The main body of the water sample collection module includes a multi-water sample collection device and a low-pixel camera.

6. The method for inspecting drainage pipe networks and culverts based on a drone swarm according to claim 1, wherein: The main body of the water quality and quantity detection module includes a water quality detection probe and a low-pixel camera.

7. The method for inspecting drainage pipe networks and culverts based on a drone swarm according to claim 1, wherein: During the processes of steps S2 to S6, when the signal feedback from the drone weakens to a certain extent, release relay communication and positioning drones into the pipeline to form a communication link in the pipeline.

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