A method, device, equipment and medium for collecting and detecting underground pipe network data

Abstract

The present invention discloses a method, device, equipment and medium for underground pipe network data acquisition and detection. The method comprises: taking the center line of the target underground vertical pipeline as a reference, downwardly obtaining the edge point coordinates of the spatial plane where each equidistant point is located; preprocessing the edge point coordinates corresponding to each equidistant point, fitting the preprocessing results by the least squares method, and generating a corresponding first characteristic image; judging whether there is a gap on the first characteristic image corresponding to each equidistant point, and if there is a gap, judging whether there is an underground horizontal pipeline connected to the target underground vertical pipeline at the corresponding equidistant point; obtaining the edge point coordinates at both ends of each gap, fitting the edge point coordinates at both ends of each gap by the least squares method, and generating a corresponding second characteristic image; fitting each first characteristic image and each second characteristic image to generate an underground pipe network characteristic image and visually displaying it; the present invention saves time and labor, is more intelligent, and can adapt to different application scenarios.

Description

Technical Field

[0001] The present invention relates to an underground pipe network data collection, detection and optimization method, device, equipment and medium, belonging to the technical field of underground pipe networks. Background Art

[0002] Currently, pipeline data collection and testing still rely on on-site testing. At regular intervals, technical workers visit the underground pipeline network site to collect pipeline data and record the test data. They analyze the defect detection information for that section of the pipeline and assess the health level of the underground pipeline network based on the defect size and number. Pipeline maintenance personnel then perform corresponding treatments on the pipeline based on the health level of the underground pipeline network. The current method requires data collection, testing, and analysis for each section of the underground pipeline network, which is a large undertaking and has poor timeliness. It also suffers from harsh working environments, high labor intensity, and poor safety. This approach is not feasible in complex pipeline environments, making it difficult to fully explore the entire pipeline. Furthermore, the requirement for personnel to enter the pipeline for testing is primarily applicable to pipelines with a diameter greater than 800mm. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a method, device, equipment and medium for underground pipe network data collection and detection, so as to solve the technical problems that the existing manual detection method is time-consuming and labor-intensive and has a limited adaptability to scenarios.

[0004] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0005] In a first aspect, the present invention provides a method for collecting and detecting underground pipe network data, comprising:

[0006] Taking the center line of the target underground vertical pipeline as the reference, obtain the edge point coordinates of the spatial plane where each equidistant point is located;

[0007] Preprocessing the edge point coordinates corresponding to each of the equidistant points, fitting the preprocessing results by the least squares method, and generating a corresponding first feature image;

[0008] Determine whether there is a gap on the first characteristic image corresponding to each of the equidistant points; if there is a gap, determine that there is an underground horizontal pipeline connected to the target underground vertical pipeline at the corresponding equidistant point;

[0009] Obtaining the coordinates of the edge points at both ends of each of the gaps, fitting the coordinates of the edge points at both ends of each of the gaps by the least squares method, and generating a corresponding second feature image;

[0010] Each of the first characteristic images and each of the second characteristic images are fitted to generate an underground pipe network characteristic image and perform visual display.

[0011] Optionally, the preprocessing of the edge point coordinates corresponding to each of the equidistant points includes:

[0012] Eliminate edge points whose coordinates do not satisfy the following equation from the edge point coordinates corresponding to the equidistant points:

[0013]

[0014] Where, (X i,j ,Y i,j ) is the coordinate of the i-th edge point corresponding to the j-th equidistant point, (A j ,B j ) is the coordinate of the jth equidistant point, is the difference between the x-axis and y-axis coordinates, and R is the inner diameter of the underground vertical pipeline.

[0015] Optionally, determining whether there is a gap on the first characteristic image corresponding to each of the equidistant points includes:

[0016] Calculate the distance between adjacent edge points on the first feature image corresponding to each of the equidistant points:

[0017]

[0018] Where, (X r,j ,Y r,j )、(X r-1,j ,Y r-1,j ) is the coordinate of the r,r-1th edge point on the first feature image corresponding to the jth equidistant point;

[0019] like is the spacing threshold, then there is a gap on the first feature image corresponding to the jth equidistant point, and the distance between the two ends of the gap is The edge coordinates of the two ends of the gap are (X r,j ,Y r,j )、(X r-1,j ,Y r-1,j ).

[0020] Optionally, generating a corresponding second feature image includes:

[0021] Sorting the distances between the two ends of the gap in the order of the equidistant points to form a distance sequence;

[0022] The distances at both ends of the gap in the distance sequence whose values ​​increase from small to large and then decrease form a distance combination;

[0023] Each of the distance combinations corresponds to a second characteristic image, and the edge point coordinates corresponding to each of the two end distances in each of the distance combinations are fitted by the least squares method to generate a corresponding second characteristic image.

[0024] In a second aspect, the present invention provides an underground pipe network data acquisition and detection device, the device comprising:

[0025] The data acquisition module is used to obtain the edge point coordinates of the spatial plane where each equidistant point is located, based on the center line of the target underground vertical pipeline;

[0026] a vertical pipe fitting module, configured to pre-process the edge point coordinates corresponding to each of the equidistant points, and fit the pre-processing results using a least squares method to generate a corresponding first feature image;

[0027] a horizontal pipeline judgment module, configured to judge whether there is a gap on the first characteristic image corresponding to each of the equidistant points; if there is a gap, determining that there is an underground horizontal pipeline connected to the target underground vertical pipeline at the corresponding equidistant point;

[0028] a horizontal pipe fitting module, configured to obtain the coordinates of the edge points at both ends of each of the gaps, and to fit the coordinates of the edge points at both ends of each of the gaps by a least squares method to generate a corresponding second characteristic image;

[0029] The underground pipe network fitting module is used to fit each of the first characteristic images and each of the second characteristic images to generate an underground pipe network characteristic image and perform visual display.

[0030] In a third aspect, the present invention provides an electronic device, including a processor and a storage medium;

[0031] The storage medium is used to store instructions;

[0032] The processor is configured to operate according to the instructions to execute the steps of the above method.

[0033] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The present invention provides a method, device, equipment and medium for underground pipe network data acquisition and detection. The method collects coordinate information of each plane in an equidistant manner and preprocesses the coordinate information to improve the accuracy of fitting the coordinate information into a feature image through the least squares method; the construction of underground vertical pipelines and underground horizontal pipelines is completed by fitting the first feature image and the second feature image. Compared with manual methods, this method saves time and labor, is more intelligent, and can adapt to different application scenarios; the device, equipment and medium can achieve the same technical effect by using the above method. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a flow chart of an underground pipe network data collection and detection method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0038] Example 1:

[0039] In a first aspect, the present invention provides a method for collecting and detecting underground pipe network data, comprising:

[0040] 1. Using the centerline of the target underground vertical pipeline as a reference, obtain the edge point coordinates of each equidistant point on the spatial plane;

[0041] During the actual data collection process, a single-soldier data collection platform is built, including a probe rod, a meter counter, an ultrasonic sensor, and a bracket; the bracket is fixed to the port of the target underground vertical pipeline, and the probe rod is installed on the bracket with the help of auxiliary tools and is located on the center line of the target underground vertical pipeline; the ultrasonic sensor and meter counter are installed at the bottom of the probe rod; the descent distance is obtained through the meter counter, and the coordinate information of a circle is obtained at equidistant points through the ultrasonic sensor.

[0042] 2. Preprocess the edge point coordinates corresponding to each equidistant point, fit the preprocessing results using the least squares method, and generate the corresponding first feature image;

[0043] The preprocessing of the edge point coordinates corresponding to each equidistant point includes:

[0044] Eliminate edge points whose coordinates do not satisfy the following equation from those corresponding to the equidistant points:

[0045]

[0046] Where, (X i,j ,Y i,j ) is the coordinate of the i-th edge point corresponding to the j-th equidistant point, (A j ,B j ) is the coordinate of the jth equidistant point, is the difference between the x-axis and y-axis coordinates, and R is the inner diameter of the underground vertical pipeline;

[0047] The effective edge point coordinates are retained through preprocessing, thereby reducing the fitting error of the feature image.

[0048] 3. Determine whether there is a gap on the first feature image corresponding to each equidistant point. If there is a gap, determine that there is an underground horizontal pipeline connected to the target underground vertical pipeline at the corresponding equidistant point;

[0049] Wherein, determining whether there is a gap on the first characteristic image corresponding to each equidistant point includes:

[0050] Calculate the distance between adjacent edge points on the first feature image corresponding to each equidistant point:

[0051]

[0052] Where, (X r,j ,Y r,j )、(X r-1,j ,Y r-1,j ) is the coordinate of the r, r-1th edge point on the first feature image corresponding to the jth equidistant point;

[0053] like is the spacing threshold, then there is a gap on the first feature image corresponding to the jth equidistant point, and the distance between the two ends of the gap is The edge coordinates of the two ends of the gap are (X r,j ,Y r,j )、(X r-1,j ,Y r-1,j ).

[0054] 4. Obtain the edge point coordinates at both ends of each gap, and fit the edge point coordinates at both ends of each gap using the least squares method to generate the corresponding second feature image;

[0055] The generating of the corresponding second feature image includes:

[0056] Sort the distances between the two ends of the gap into a distance sequence according to the order of the equidistant points;

[0057] The distances between the two ends of the gap in the distance sequence, which increase and then decrease, are combined into a distance combination. If the value increases, it means that the distance between the two end points has not yet reached the diameter of the branch pipe or is still smaller than the diameter of the horizontal branch pipe, indicating that the data collection at this time is still in the upper half of the horizontal branch pipe and the lower half of the horizontal branch pipe has not yet been detected. If the distance between the two end points is smaller than the previous measurement value, that is, the phenomenon of first increasing and then decreasing is comprehensively compared with the previous sets of measured data, it indicates that the diameter of the horizontal branch pipe has been exceeded, the measurement range has covered more than half a circle, and the ultrasonic sensor has reached the lower half of the horizontal branch pipe.

[0058] Each distance combination corresponds to a second characteristic image, and the edge point coordinates corresponding to each end distance in each distance combination are fitted by the least squares method to generate the corresponding second characteristic image.

[0059] 5. Fit each first characteristic image and each second characteristic image to generate an underground pipe network characteristic image and perform a visual display.

[0060] Example 2:

[0061] An embodiment of the present invention provides an underground pipe network data acquisition and detection device, the device comprising:

[0062] The data acquisition module is used to obtain the edge point coordinates of the spatial plane where each equidistant point is located, based on the center line of the target underground vertical pipeline;

[0063] A vertical pipeline fitting module is used to pre-process the edge point coordinates corresponding to each equidistant point, fit the pre-processing results by the least squares method, and generate a corresponding first feature image;

[0064] A horizontal pipeline judgment module is used to judge whether there is a gap on the first characteristic image corresponding to each equidistant point. If there is a gap, it is determined that there is an underground horizontal pipeline connected to the target underground vertical pipeline at the corresponding equidistant point;

[0065] A horizontal pipe fitting module is used to obtain the edge point coordinates at both ends of each gap, fit the edge point coordinates at both ends of each gap by the least square method, and generate a corresponding second feature image;

[0066] The underground pipe network fitting module is used to fit each first characteristic image and each second characteristic image to generate an underground pipe network characteristic image and perform visual display.

[0067] Example 3:

[0068] Based on the first embodiment, the present invention provides an electronic device including a processor and a storage medium;

[0069] The storage medium is used to store instructions;

[0070] The processor is configured to operate according to the instructions to execute the steps of the above method.

[0071] Example 4:

[0072] Based on the first embodiment, the embodiment of the present invention provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the above method are implemented.

[0073] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0074] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0075] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0076] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0077] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for collecting and detecting underground pipe network data, characterized in that: include: Taking the center line of the target underground vertical pipeline as the reference, obtain the edge point coordinates of the spatial plane where each equidistant point is located; Preprocessing the edge point coordinates corresponding to each of the equidistant points, fitting the preprocessing results by the least squares method, and generating a corresponding first feature image; Determine whether there is a gap on the first characteristic image corresponding to each of the equidistant points; if there is a gap, determine that there is an underground horizontal pipeline connected to the target underground vertical pipeline at the corresponding equidistant point; Obtaining the coordinates of the edge points at both ends of each of the gaps, fitting the coordinates of the edge points at both ends of each of the gaps by the least squares method, and generating a corresponding second feature image; Each of the first characteristic images and each of the second characteristic images are fitted to generate an underground pipe network characteristic image and perform visual display.

2. The underground pipe network data acquisition and detection method according to claim 1, characterized in that: The preprocessing of the edge point coordinates corresponding to each of the equidistant points includes: Eliminate edge points whose coordinates do not satisfy the following equation from the edge point coordinates corresponding to the equidistant points: Where, (X i,j ,Y i,j ) is the coordinate of the i-th edge point corresponding to the j-th equidistant point, (A j ,B j ) is the coordinate of the jth equidistant point, is the difference between the x-axis and y-axis coordinates, and R is the inner diameter of the underground vertical pipeline.

3. The underground pipe network data acquisition and detection method according to claim 2, characterized in that: The determining whether there is a gap on the first characteristic image corresponding to each of the equidistant points includes: Calculate the distance between adjacent edge points on the first feature image corresponding to each of the equidistant points: Where, (X r,j ,Y r,j )、(X r-1,j ,Y r-1,j ) is the coordinate of the r,r-1th edge point on the first feature image corresponding to the jth equidistant point; like ε is the spacing threshold, then there is a gap on the first feature image corresponding to the jth equidistant point, and the distance between the two ends of the gap is The edge coordinates of the two ends of the gap are (X r,j ,Y r,j )、(X r-1,j ,Y r-1,j ).

4. The underground pipe network data acquisition and detection method according to claim 3, characterized in that: Generating the corresponding second feature image includes: Sorting the distances between the two ends of the gap in the order of the equidistant points to form a distance sequence; The distances at both ends of the gap in the distance sequence whose values ​​increase from small to large and then decrease form a distance combination; Each of the distance combinations corresponds to a second characteristic image, and the edge point coordinates corresponding to each of the two end distances in each of the distance combinations are fitted by the least squares method to generate a corresponding second characteristic image.

5. An underground pipe network data acquisition and detection device, characterized in that: The device comprises: The data acquisition module is used to obtain the edge point coordinates of the spatial plane where each equidistant point is located, based on the center line of the target underground vertical pipeline; a vertical pipe fitting module, configured to pre-process the edge point coordinates corresponding to each of the equidistant points, and fit the pre-processing results using a least squares method to generate a corresponding first feature image; a horizontal pipeline judgment module, configured to judge whether there is a gap on the first characteristic image corresponding to each of the equidistant points; if there is a gap, determining that there is an underground horizontal pipeline connected to the target underground vertical pipeline at the corresponding equidistant point; a horizontal pipe fitting module, configured to obtain the coordinates of the edge points at both ends of each of the gaps, and to fit the coordinates of the edge points at both ends of each of the gaps by a least squares method to generate a corresponding second characteristic image; The underground pipe network fitting module is used to fit each of the first characteristic images and each of the second characteristic images to generate an underground pipe network characteristic image and perform visual display.

6. An electronic device, characterized in that: including processors and storage media; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

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