Pipeline inspection control method and system based on combination of sky and ground monitoring

Abstract

This invention provides a pipeline inspection and control method and system based on a combination of aerial and ground monitoring. The method involves first taking aerial-to-ground images of the pipeline laying area to obtain ground condition information, thereby identifying abnormal pipeline zones. Based on the location information of these abnormal zones, ground monitoring data is acquired and analyzed to determine whether any abnormal pipeline operation events have occurred. Aerial-to-ground imaging provides global visual monitoring of the pipeline, accurately identifying potentially problematic pipeline sections. Furthermore, based on the location information of the abnormal pipeline zones where abnormal operation events have occurred, aerial-to-ground imaging is performed again to obtain images of the pipeline interior, thus confirming any pipeline defects present in the abnormal zones. This combined approach of aerial-to-ground imaging and ground monitoring enables continuous, global, and directional monitoring of the pipeline, improving the accuracy of pipeline inspection.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection, and more particularly to a pipeline inspection control method and system based on a combination of aerial and ground monitoring. Background Technology

[0002] Oil and gas pipelines are extensive and complex, requiring regular inspections to ensure their reliable transport. Currently, manual inspection remains the primary method. To reduce workload, optical fiber sensors and cameras can be installed along the pipeline route for automated monitoring, with analysis of the results. However, these methods only provide short-term, localized inspections and cannot provide continuous, global, and directional monitoring, thus compromising the controllability and accuracy of pipeline inspections. Summary of the Invention

[0003] The purpose of this invention is to provide a pipeline inspection and control method and system based on a combination of aerial and ground monitoring. The method involves first taking aerial-to-ground images of the pipeline laying area to obtain ground images, analyzing the surface condition information of the pipeline laying area, and thus identifying pipeline anomaly zones. Based on the location information of these anomaly zones, ground monitoring data is acquired and analyzed to determine whether any pipeline malfunction events have occurred within the anomaly zones. Aerial-to-ground imaging provides global visual monitoring of the pipeline, accurately identifying potentially problematic pipeline sections. Furthermore, based on the location information of the anomaly zones where malfunction events have occurred, aerial-to-ground imaging is performed again to obtain images of the pipeline interior, thereby determining any pipeline defects present in the anomaly zones. This combination of aerial-to-ground imaging and ground monitoring enables continuous, global, directional monitoring of the pipeline, improving the accuracy of pipeline inspection.

[0004] This invention is achieved through the following technical solution:

[0005] Pipeline inspection and control methods based on a combination of aerial and ground monitoring include:

[0006] The drone is instructed to take a first aerial photograph of the pipeline laying area to obtain a ground image of the pipeline laying area; the ground image is analyzed to obtain surface condition information of the pipeline laying area; based on the surface condition information, all pipeline anomaly zones within the pipeline laying area are identified;

[0007] Based on the location information of the pipeline abnormal interval area, the corresponding pipeline ground monitoring data is obtained, the pipeline ground monitoring data is analyzed, it is determined whether a pipeline operation abnormal event has occurred in the pipeline abnormal interval area, and all pipeline abnormal interval areas where pipeline operation abnormal events have occurred are marked.

[0008] Based on the location information of the pipeline abnormality zone where the pipeline operation anomaly event occurred, the UAV is instructed to conduct a second aerial-to-ground imaging of the corresponding pipeline abnormality zone to obtain an image of the pipeline inside the abnormality zone; the image of the pipeline inside the pipeline is analyzed to determine the pipeline defects existing in the pipeline abnormality zone, and the pipeline defects are marked.

[0009] Optionally, the drone is instructed to conduct a first aerial-to-ground photograph of the pipeline laying area to obtain a ground image of the pipeline laying area; the ground image is analyzed to obtain surface condition information of the pipeline laying area; based on the surface condition information, all pipeline anomaly zones within the pipeline laying area are determined, including:

[0010] The drone is instructed to perform an air-to-ground scan of the pipeline laying area in the visible light band to obtain a global ground image of the pipeline laying area.

[0011] The global ground image is analyzed to obtain the surface topography information of the pipeline laying area; wherein, the surface topography information includes the geological topography information of the surface area where the pipeline laying area is located; based on the surface topography information, all areas in the pipeline laying area where surface collapses exist are identified, and these are used as all pipeline anomaly intervals under the pipeline laying area.

[0012] Optionally, the UAV is instructed to perform an air-to-ground scan of the pipeline laying area in the visible light band to obtain a global ground image of the pipeline laying area, including:

[0013] Step S1: Since the drone may shake due to environmental factors during hovering and shooting, the following formula (1) is used to obtain the current downward shaking value of the drone based on the photo taken by the drone.

[0014] (1)

[0015] In the above formula (1), This indicates the predicted value of the current downward jitter of the drone; This represents the total pixel area value of the photo taken by the drone. This represents the total pixel area value of the pipeline laying area in the photo taken by the drone. This indicates the flight altitude value of the photo taken by the drone. This represents the fixed focal length value captured by the drone;

[0016] Step S2: Using the formula (2) below, based on the current downward shaking value of the drone and the current weather conditions, determine whether to control the drone to fly upward a preset distance.

[0017] (2)

[0018] In the above formula (2), This represents a control value that controls the drone to fly upwards a preset distance; Indicates the preset distance threshold; This indicates that the maximum value between the two sides of the comma inside the parentheses is being calculated. This indicates the weather status value; if the current weather condition is severe, then... ,on the contrary ;

[0019] like Then, the drone will be controlled to fly upwards a preset distance;

[0020] like Then, the drone will be controlled to maintain its current state;

[0021] Step S3: After the drone takes the next photo, the usage value of the next photo is controlled according to the jitter value between the current photo and the next photo, using the following formula (3).

[0022] (3)

[0023] In the above formula (3), Indicates the usage value of the next photo taken; This indicates the next flight altitude value captured by the drone; This indicates a preset distance for upward flight;

[0024] like Then, the next photo taken will be used.

[0025] like If so, then the next photo taken will not be used.

[0026] Optionally, based on the location information of the pipeline anomaly zone, corresponding pipeline surface monitoring data is obtained, the pipeline surface monitoring data is analyzed, it is determined whether a pipeline operation anomaly event has occurred in the pipeline anomaly zone, and all pipeline anomaly zones where pipeline operation anomalies have occurred are identified, including:

[0027] Based on the distribution location information of the pipeline anomaly intervals along the pipeline length, the corresponding pipeline ground monitoring data for all pipeline anomaly intervals are obtained from the ground-based distributed monitoring system; wherein, the pipeline ground monitoring data includes pipeline deformation data and pipeline internal pressure data corresponding to the pipeline anomaly intervals.

[0028] The pipeline deformation data is analyzed to obtain the maximum pipeline deformation amplitude in the abnormal pipeline region; the pipeline internal pressure data is analyzed to obtain the minimum pipeline internal pressure in the abnormal pipeline region; if the maximum pipeline deformation amplitude is greater than a preset pipeline elastic deformation amplitude or the minimum pipeline internal pressure is less than a preset pressure threshold, then it is determined that a pipeline operation abnormality event has occurred in the abnormal pipeline region; otherwise, it is determined that no pipeline operation abnormality event has occurred in the abnormal pipeline region, and the location information of all abnormal pipeline regions where pipeline operation abnormality events have occurred is marked.

[0029] Optionally, based on the location information of the pipeline malfunction zone where the pipeline operation anomaly occurred, the UAV is instructed to perform a second aerial-to-ground imaging of the corresponding pipeline malfunction zone to obtain an image of the pipeline interior; the image is then analyzed to determine any pipeline defects present in the pipeline malfunction zone, and the pipeline defects are marked, including:

[0030] Based on the distribution location information of the abnormal pipeline section area along the pipeline length direction where the pipeline operation abnormal event occurred, the UAV is instructed to perform air-to-ground photography of the corresponding abnormal pipeline section area using invisible rays to obtain the pipeline internal flaw detection image of the abnormal pipeline section area.

[0031] The in-pipe flaw detection images are analyzed to determine the pipe structural defects present in the abnormal pipe area, and the distribution location of the pipe structural defects is marked.

[0032] A pipeline inspection and control system based on a combination of aerial and ground monitoring includes:

[0033] The first aerial-to-ground imaging module is used to instruct the UAV to perform the first aerial-to-ground imaging of the pipeline laying area to obtain ground images of the pipeline laying area;

[0034] The first image analysis module is used to analyze the ground image to obtain the surface condition information of the pipeline laying area; based on the surface condition information, it determines all pipeline anomaly intervals within the pipeline laying area.

[0035] The ground monitoring data acquisition and analysis module is used to acquire corresponding pipeline ground monitoring data based on the location information of the pipeline abnormal interval area, analyze the pipeline ground monitoring data, determine whether a pipeline operation abnormal event has occurred in the pipeline abnormal interval area, and mark all pipeline abnormal interval areas where pipeline operation abnormal events have occurred.

[0036] The second air-to-ground imaging module is used to instruct the UAV to perform a second air-to-ground imaging of the corresponding abnormal pipeline section area based on the location information of the abnormal pipeline section area where the abnormal pipeline operation event has occurred, so as to obtain the pipeline image inside the abnormal pipeline section area.

[0037] The second image analysis module is used to analyze the images inside the pipe, determine whether there are pipe defects in the abnormal pipe area, and mark the pipe defects.

[0038] Optionally, the first air-to-ground imaging module is used to instruct the UAV to perform a first air-to-ground imaging of the pipeline laying area to obtain a ground image of the pipeline laying area, including:

[0039] The drone is instructed to perform an air-to-ground scan of the pipeline laying area in the visible light band to obtain a global ground image of the pipeline laying area.

[0040] The first image analysis module is used to analyze the ground image to obtain surface condition information of the pipeline laying area; based on the surface condition information, it determines all pipeline anomaly zones within the pipeline laying area, including:

[0041] The global ground image is analyzed to obtain the surface topography information of the pipeline laying area; wherein, the surface topography information includes the geological topography information of the surface area where the pipeline laying area is located; based on the surface topography information, all areas in the pipeline laying area where surface collapses exist are identified, and these are used as all pipeline anomaly intervals under the pipeline laying area.

[0042] Optionally, the ground monitoring data acquisition and analysis module is used to acquire corresponding pipeline ground monitoring data based on the location information of the pipeline anomaly interval area, analyze the pipeline ground monitoring data, determine whether a pipeline operation anomaly event has occurred in the pipeline anomaly interval area, and mark all pipeline anomaly interval areas where pipeline operation anomaly events have occurred, including:

[0043] Based on the distribution location information of the pipeline anomaly intervals along the pipeline length, the corresponding pipeline ground monitoring data for all pipeline anomaly intervals are obtained from the ground-based distributed monitoring system; wherein, the pipeline ground monitoring data includes pipeline deformation data and pipeline internal pressure data corresponding to the pipeline anomaly intervals.

[0044] The pipeline deformation data is analyzed to obtain the maximum pipeline deformation amplitude in the abnormal pipeline region; the pipeline internal pressure data is analyzed to obtain the minimum pipeline internal pressure in the abnormal pipeline region; if the maximum pipeline deformation amplitude is greater than a preset pipeline elastic deformation amplitude or the minimum pipeline internal pressure is less than a preset pressure threshold, then it is determined that a pipeline operation abnormality event has occurred in the abnormal pipeline region; otherwise, it is determined that no pipeline operation abnormality event has occurred in the abnormal pipeline region, and the location information of all abnormal pipeline regions where pipeline operation abnormality events have occurred is marked.

[0045] Optionally, the second air-to-ground imaging module is used to instruct the UAV to perform a second air-to-ground imaging of the corresponding abnormal pipeline section area based on the location information of the pipeline abnormality section area where the pipeline operation abnormality event has occurred, to obtain an image of the pipeline inside the abnormal pipeline section area, including:

[0046] Based on the distribution location information of the abnormal pipeline section area along the pipeline length direction where the pipeline operation abnormal event occurred, the UAV is instructed to perform air-to-ground photography of the corresponding abnormal pipeline section area using invisible rays to obtain the pipeline internal flaw detection image of the abnormal pipeline section area.

[0047] The second image analysis module is used to analyze the in-pipe image, determine the presence of pipeline defects in the abnormal pipeline region, and mark the pipeline defects, including:

[0048] The in-pipe flaw detection images are analyzed to determine the pipe structural defects present in the abnormal pipe area, and the distribution location of the pipe structural defects is marked.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] The pipeline inspection and control method and system provided in this application, which combines aerial and ground monitoring, first takes aerial-to-ground images of the pipeline laying area to obtain ground images, analyzes the surface condition information of the pipeline laying area, and thus identifies the pipeline abnormality zone. Based on the location information of the pipeline abnormality zone, it acquires and analyzes pipeline ground monitoring data to determine whether a pipeline operation abnormality event has occurred in the pipeline abnormality zone. It uses aerial-to-ground imaging to perform global visual monitoring of the pipeline, accurately identifying pipeline sections with potential problems. Furthermore, based on the location information of the pipeline abnormality zone where a pipeline operation abnormality event has occurred, it takes aerial-to-ground images of the corresponding pipeline abnormality zone again to obtain images of the inside of the pipeline, thereby determining the pipeline defects present in the pipeline abnormality zone. By combining aerial-to-ground imaging and ground monitoring, it performs global, directional, and continuous monitoring of the pipeline, improving the accuracy of pipeline inspection. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0052] Figure 1 This is a flowchart illustrating the pipeline inspection and control method based on the combination of sky and ground monitoring provided by the present invention.

[0053] Figure 2 This is a schematic diagram of the pipeline inspection and control system based on the combination of sky and ground monitoring provided by the present invention. Detailed Implementation

[0054] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not the entire structure. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0055] The terms “comprising” and “having”, and any variations thereof, used in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0056] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0057] Please see Figure 1 As shown, an embodiment of this application provides a pipeline inspection and control method based on a combination of sky and ground monitoring. This pipeline inspection and control method based on a combination of sky and ground monitoring includes:

[0058] The drone is instructed to take the first aerial photograph of the pipeline laying area to obtain a ground image of the pipeline laying area; the ground image is analyzed to obtain the surface condition information of the pipeline laying area; based on the surface condition information, all pipeline anomaly zones under the pipeline laying area are identified.

[0059] Based on the location information of the pipeline abnormality zone, the corresponding pipeline ground monitoring data is obtained, the pipeline ground monitoring data is analyzed, it is determined whether a pipeline operation abnormality event has occurred in the pipeline abnormality zone, and all pipeline abnormality zones where pipeline operation abnormality events have occurred are marked.

[0060] Based on the location information of the pipeline malfunction zone where the pipeline operation anomaly occurred, the UAV is instructed to conduct a second aerial-to-ground photograph of the corresponding pipeline malfunction zone to obtain an image of the pipeline inside the malfunction zone; the image is then analyzed to identify the pipeline defects present in the pipeline malfunction zone and to mark the defects.

[0061] The beneficial effects of the above embodiments are as follows: This pipeline inspection and control method based on the combination of aerial and ground monitoring first takes aerial-to-ground images of the pipeline laying area to obtain ground images, analyzes the surface condition information of the pipeline laying area, and thus identifies the pipeline abnormality zone; based on the location information of the pipeline abnormality zone, it acquires and analyzes pipeline ground monitoring data to determine whether a pipeline operation abnormality event has occurred in the pipeline abnormality zone; it uses aerial-to-ground imaging to perform global visual monitoring of the pipeline, accurately identifying pipeline sections that may have problems; furthermore, based on the location information of the pipeline abnormality zone where a pipeline operation abnormality event has occurred, it takes aerial-to-ground images of the corresponding pipeline abnormality zone again to obtain images of the inside of the pipe, thereby determining the pipeline defects present in the pipeline abnormality zone; and it uses a combination of aerial-to-ground imaging and ground monitoring to perform global directional continuous monitoring of the pipeline, improving the accuracy of pipeline inspection.

[0062] In another embodiment, a drone is instructed to conduct a first aerial-to-ground photograph of the pipeline laying area to obtain a ground image of the pipeline laying area; the ground image is analyzed to obtain surface condition information of the pipeline laying area; based on the surface condition information, all pipeline anomaly zones within the pipeline laying area are determined, including:

[0063] The drone is instructed to perform an air-to-ground scan of the pipeline laying area in the visible light band to obtain a global ground image of the pipeline laying area.

[0064] The global ground image was analyzed to obtain the surface topography information of the pipeline laying area. This surface topography information includes the geological topography information of the surface area where the pipeline laying area is located. Based on this surface topography information, all areas in the pipeline laying area where surface collapses exist were identified, and these areas were used as all pipeline anomaly zones under the pipeline laying area.

[0065] The beneficial effects of the above embodiments are as follows: First, the visible light camera on the UAV is instructed to perform an air-to-ground scan and capture images of the pipeline laying area, obtaining a global ground image of the entire pipeline and its surrounding ground area. This allows for global image capture of the pipeline laying area. Then, this global ground image is analyzed to obtain the surface topography information of the pipeline laying area, thereby accurately identifying the surface topography and facilitating the determination of all areas where ground collapses may occur. When a ground collapse occurs in a certain area, the pipeline laid in that area is at risk of damage. Therefore, all areas in the pipeline laying area where ground collapses are possible are identified as all abnormal pipeline zones within that area. This allows for subsequent ground monitoring only of these abnormal zones, reducing the workload of pipeline inspection.

[0066] In another embodiment, a drone is instructed to perform an air-to-ground scan of the pipeline laying area in the visible light band to obtain a global ground image of the pipeline laying area, including:

[0067] Step S1: Since the drone may shake due to environmental factors during hovering and shooting, the following formula (1) is used to obtain the current downward shaking value of the drone based on the photo taken by the drone.

[0068] (1)

[0069] In the above formula (1), This indicates the predicted value of the drone's current downward jitter; This represents the total pixel area value of the photo taken by the drone. This represents the total pixel area of ​​the pipeline laying area in the photo taken by the drone. This indicates the flight altitude value of the photo taken by the drone. This indicates the fixed focal length value captured by the drone;

[0070] Step S2: Using the formula (2) below, based on the current downward shaking value of the drone and the current weather conditions, determine whether to control the drone to fly upward a preset distance.

[0071] (2)

[0072] In the above formula (2), This indicates the control value that controls the drone to fly upwards a preset distance; Indicates the preset distance threshold; This indicates that the maximum value between the two sides of the comma inside the parentheses is being calculated. This indicates the weather status value; if the current weather condition is severe, then... ,on the contrary ;

[0073] like Then, control the drone to fly upwards a preset distance;

[0074] like If so, the drone will be kept in its current state.

[0075] Step S3: After the drone takes the next photo, use the following formula (3) to control the usage value of the next photo based on the shake value between the current photo and the next photo.

[0076] (3)

[0077] In the above formula (3), Indicates the usage value of the next photo taken; This indicates the next flight altitude value captured by the drone; This indicates a preset distance for upward flight;

[0078] like Then, the next photo taken will be used.

[0079] like If so, then the next photo taken will not be used.

[0080] The beneficial effects of the above embodiments are as follows: using the above formula (1), the current downward shaking value of the drone is obtained based on the photo taken by the drone. The threshold can not only limit the distance of drone shaking, but also serve as a reference for controlling the drone to avoid the impact of shaking, thus ensuring the overall stability of the system. Using the above formula (2), based on the current downward shaking value of the drone and the current weather conditions, it is determined whether to control the drone to fly upward a preset distance. When the downward shaking value is small and the weather is bad, the drone will automatically rise a certain distance to ensure the accuracy of subsequent photos. Then, using the above formula (3), the usage value of the next photo is controlled based on the shaking value of the next photo and the current photo, thereby eliminating incomplete photos and ensuring the reliability of subsequent system control.

[0081] In another embodiment, based on the location information of the pipeline anomaly zone, corresponding pipeline ground monitoring data is obtained, the pipeline ground monitoring data is analyzed to determine whether a pipeline operation anomaly event has occurred in the pipeline anomaly zone, and all pipeline anomaly zones where pipeline operation anomalies have occurred are identified, including:

[0082] Based on the distribution location information of the pipeline anomaly zone along the pipeline length, the corresponding pipeline ground monitoring data for all pipeline anomaly zones are obtained from the ground-based distributed monitoring system; wherein, the pipeline ground monitoring data includes pipeline deformation data and pipeline internal pressure data corresponding to the pipeline anomaly zone.

[0083] The pipeline deformation data is analyzed to obtain the maximum pipeline deformation amplitude in the abnormal pipeline region; the pipeline internal pressure data is analyzed to obtain the minimum pipeline internal pressure in the abnormal pipeline region; if the maximum pipeline deformation amplitude is greater than the preset pipeline elastic deformation amplitude or the minimum pipeline internal pressure is less than the preset pressure threshold, it is determined that a pipeline operation abnormality event has occurred in the abnormal pipeline region; otherwise, it is determined that no pipeline operation abnormality event has occurred in the abnormal pipeline region, and the location information of all abnormal pipeline regions where pipeline operation abnormality events have occurred is marked.

[0084] The beneficial effects of the above embodiments are that, based on the distribution location information of the pipeline anomaly zone along the pipeline length, corresponding pipeline ground monitoring data for all pipeline anomaly zones are obtained from the ground-based distributed monitoring system. This enables accurate identification of pipeline deformation and internal pressure status within the pipeline anomaly zone. Further analysis of the pipeline deformation data yields the maximum pipeline deformation amplitude within the anomaly zone; analysis of the pipeline internal pressure data yields the minimum internal pressure within the anomaly zone. Threshold comparisons are then performed on the maximum pipeline deformation amplitude and the minimum internal pressure to determine whether pipeline bending or rupture, or other abnormal pipeline operation events, have occurred within the anomaly zone. This facilitates subsequent accurate secondary aerial-to-ground imaging of the pipeline anomaly zone where such events have occurred.

[0085] In another embodiment, based on the location information of the pipeline malfunction zone where the pipeline operation anomaly event occurred, the UAV is instructed to perform a second aerial-to-ground photograph of the corresponding pipeline malfunction zone to obtain an image of the pipeline interior within the malfunction zone; the image is then analyzed to determine any pipeline defects present in the malfunction zone, and these defects are marked, including:

[0086] Based on the location information of the distribution of the abnormal pipeline section along the pipeline length direction when an abnormal pipeline operation event occurs, the UAV is instructed to perform air-to-ground photography of the corresponding abnormal pipeline section using invisible rays to obtain the internal flaw detection image of the abnormal pipeline section.

[0087] The internal flaw detection image of the pipe was analyzed to identify the structural defects in the abnormal area of ​​the pipe, and the distribution location of the structural defects was marked.

[0088] The beneficial effects of the above embodiments are that, based on the distribution location information of the abnormal pipeline section area along the pipeline length direction where the pipeline operation anomaly event occurs, the invisible X-ray equipment carried by the UAV is instructed to perform flaw detection and imaging on the pipeline in the abnormal pipeline section area where the pipeline operation anomaly event occurred, and the obtained internal flaw detection images are analyzed to determine the pipeline structural defects existing in the abnormal pipeline section area. In this way, it is not necessary to perform flaw detection analysis on the entire pipeline in the pipeline laying area, reducing the workload of pipeline flaw detection analysis and improving the accuracy and reliability of pipeline inspection.

[0089] Please see Figure 2 As shown in the figure, an embodiment of this application provides a pipeline inspection and control system based on a combination of sky and ground monitoring. This pipeline inspection and control system based on a combination of sky and ground monitoring includes:

[0090] The first aerial-to-ground imaging module is used to instruct the drone to take the first aerial-to-ground image of the pipeline laying area and obtain the ground image of the pipeline laying area.

[0091] The first image analysis module is used to analyze the ground image to obtain the surface condition information of the pipeline laying area; based on the surface condition information, it determines all pipeline anomaly zones within the pipeline laying area.

[0092] The ground monitoring data acquisition and analysis module is used to acquire the corresponding ground monitoring data of the pipeline based on the location information of the pipeline abnormal interval area, analyze the ground monitoring data of the pipeline, determine whether the pipeline abnormal interval area has experienced an abnormal operation event, and mark all pipeline abnormal interval areas where the pipeline abnormal operation event has occurred.

[0093] The second air-to-ground imaging module is used to instruct the UAV to perform second air-to-ground imaging of the corresponding abnormal pipeline section area based on the location information of the abnormal pipeline section area where the abnormal pipeline operation event occurred, so as to obtain the pipeline image inside the abnormal pipeline section area.

[0094] The second image analysis module is used to analyze the image inside the pipe, determine whether there is a pipe defect in the abnormal area of ​​the pipe, and mark the pipe defect.

[0095] The beneficial effects of the above embodiments are as follows: This pipeline inspection and control system based on the combination of aerial and ground monitoring takes a first aerial-to-ground photograph of the pipeline laying area to obtain ground images, analyzes the surface condition information of the pipeline laying area, and thus identifies the pipeline abnormality zone; based on the location information of the pipeline abnormality zone, it acquires and analyzes pipeline ground monitoring data to determine whether a pipeline operation abnormality event has occurred in the pipeline abnormality zone; it uses aerial-to-ground photography to perform global visual monitoring of the pipeline, accurately identifying pipeline sections that may have problems; and based on the location information of the pipeline abnormality zone where a pipeline operation abnormality event has occurred, it performs aerial-to-ground photography again on the corresponding pipeline abnormality zone to obtain images of the inside of the pipe, thereby determining the pipeline defects present in the pipeline abnormality zone. By using a combination of aerial-to-ground photography and ground monitoring to perform global directional continuous monitoring of the pipeline, the accuracy of pipeline inspection is improved.

[0096] In another embodiment, the first air-to-ground imaging module is used to instruct the drone to perform a first air-to-ground imaging of the pipeline laying area to obtain a ground image of the pipeline laying area, including:

[0097] The drone is instructed to perform an air-to-ground scan of the pipeline laying area in the visible light band to obtain a global ground image of the pipeline laying area.

[0098] The first image analysis module is used to analyze the ground image to obtain the surface condition information of the pipeline laying area; based on the surface condition information, it identifies all pipeline anomaly zones within the pipeline laying area, including:

[0099] The global ground image was analyzed to obtain the surface topography information of the pipeline laying area. This surface topography information includes the geological topography information of the surface area where the pipeline laying area is located. Based on this surface topography information, all areas in the pipeline laying area where surface collapses exist were identified, and these areas were used as all pipeline anomaly zones under the pipeline laying area.

[0100] The beneficial effects of the above embodiments are as follows: First, the visible light camera on the UAV is instructed to perform an air-to-ground scan and capture images of the pipeline laying area, obtaining a global ground image of the entire pipeline and its surrounding ground area. This allows for global image capture of the pipeline laying area. Then, this global ground image is analyzed to obtain the surface topography information of the pipeline laying area, thereby accurately identifying the surface topography and facilitating the determination of all areas where ground collapses may occur. When a ground collapse occurs in a certain area, the pipeline laid in that area is at risk of damage. Therefore, all areas in the pipeline laying area where ground collapses are possible are identified as all abnormal pipeline zones within that area. This allows for subsequent ground monitoring only of these abnormal zones, reducing the workload of pipeline inspection.

[0101] In another embodiment, the ground monitoring data acquisition and analysis module is used to acquire corresponding pipeline ground monitoring data based on the location information of the pipeline anomaly interval area, analyze the pipeline ground monitoring data, determine whether a pipeline operation anomaly event has occurred in the pipeline anomaly interval area, and mark all pipeline anomaly interval areas where pipeline operation anomaly events have occurred, including:

[0102] Based on the distribution location information of the pipeline anomaly zone along the pipeline length, the corresponding pipeline ground monitoring data for all pipeline anomaly zones are obtained from the ground-based distributed monitoring system; wherein, the pipeline ground monitoring data includes pipeline deformation data and pipeline internal pressure data corresponding to the pipeline anomaly zone.

[0103] The pipeline deformation data is analyzed to obtain the maximum pipeline deformation amplitude in the abnormal pipeline region; the pipeline internal pressure data is analyzed to obtain the minimum pipeline internal pressure in the abnormal pipeline region; if the maximum pipeline deformation amplitude is greater than the preset pipeline elastic deformation amplitude or the minimum pipeline internal pressure is less than the preset pressure threshold, it is determined that a pipeline operation abnormality event has occurred in the abnormal pipeline region; otherwise, it is determined that no pipeline operation abnormality event has occurred in the abnormal pipeline region, and the location information of all abnormal pipeline regions where pipeline operation abnormality events have occurred is marked.

[0104] The beneficial effects of the above embodiments are that, based on the distribution location information of the pipeline anomaly zone along the pipeline length, corresponding pipeline ground monitoring data for all pipeline anomaly zones are obtained from the ground-based distributed monitoring system. This enables accurate identification of pipeline deformation and internal pressure status within the pipeline anomaly zone. Further analysis of the pipeline deformation data yields the maximum pipeline deformation amplitude within the anomaly zone; analysis of the pipeline internal pressure data yields the minimum internal pressure within the anomaly zone. Threshold comparisons are then performed on the maximum pipeline deformation amplitude and the minimum internal pressure to determine whether pipeline bending or rupture, or other abnormal pipeline operation events, have occurred within the anomaly zone. This facilitates subsequent accurate secondary aerial-to-ground imaging of the pipeline anomaly zone where such events have occurred.

[0105] In another embodiment, the second air-to-ground imaging module is used to instruct the UAV to perform a second air-to-ground imaging of the corresponding pipeline malfunction area based on the location information of the pipeline malfunction area where the pipeline operation anomaly event has occurred, to obtain an image of the pipeline malfunction area, including:

[0106] Based on the location information of the distribution of the abnormal pipeline section along the pipeline length direction when an abnormal pipeline operation event occurs, the UAV is instructed to perform air-to-ground photography of the corresponding abnormal pipeline section using invisible rays to obtain the internal flaw detection image of the abnormal pipeline section.

[0107] The second image analysis module is used to analyze the image inside the pipe, determine the presence of pipe defects in the abnormal area, and mark the defects, including:

[0108] The internal flaw detection image of the pipe was analyzed to identify the structural defects in the abnormal area of ​​the pipe, and the distribution location of the structural defects was marked.

[0109] The beneficial effects of the above embodiments are that, based on the distribution location information of the abnormal pipeline section area along the pipeline length direction where the pipeline operation anomaly event occurs, the invisible X-ray equipment carried by the UAV is instructed to perform flaw detection and imaging on the pipeline in the abnormal pipeline section area where the pipeline operation anomaly event occurred, and the obtained internal flaw detection images are analyzed to determine the pipeline structural defects existing in the abnormal pipeline section area. In this way, it is not necessary to perform flaw detection analysis on the entire pipeline in the pipeline laying area, reducing the workload of pipeline flaw detection analysis and improving the accuracy and reliability of pipeline inspection.

[0110] In summary, this pipeline inspection and control method and system, based on a combination of aerial and ground monitoring, first takes aerial-to-ground images of the pipeline laying area to obtain ground condition information, thereby identifying abnormal pipeline zones. Based on the location information of these abnormal zones, it acquires and analyzes ground monitoring data to determine if any abnormal pipeline operation events have occurred. Aerial-to-ground imaging provides global visual monitoring of the pipeline, accurately identifying potentially problematic sections. Furthermore, based on the location information of the abnormal pipeline zones where abnormal operation events have occurred, aerial-to-ground imaging is performed again to obtain images of the pipeline interior, thus confirming any pipeline defects present in these zones. This combination of aerial-to-ground imaging and ground monitoring enables continuous, global, and directional monitoring of the pipeline, improving the accuracy of pipeline inspection.

[0111] The above is only one specific embodiment of the present invention, and any improvements made based on the concept of the present invention shall be considered within the scope of protection of the present invention.

Claims

1. A pipeline inspection and control method based on a combination of aerial and ground monitoring, characterized in that, include: The drone is instructed to take a first aerial photograph of the pipeline laying area to obtain a ground image of the pipeline laying area; the ground image is analyzed to obtain surface condition information of the pipeline laying area; based on the surface condition information, all pipeline anomaly zones within the pipeline laying area are identified; Based on the location information of the pipeline abnormal interval area, the corresponding pipeline ground monitoring data is obtained, the pipeline ground monitoring data is analyzed, it is determined whether a pipeline operation abnormal event has occurred in the pipeline abnormal interval area, and all pipeline abnormal interval areas where pipeline operation abnormal events have occurred are marked. Based on the location information of the pipeline abnormality zone where the pipeline operation anomaly event occurred, the UAV is instructed to conduct a second aerial-to-ground imaging of the corresponding pipeline abnormality zone to obtain an image of the pipeline inside the abnormality zone; the image of the pipeline inside the pipe is analyzed to determine the pipeline defects existing in the pipeline abnormality zone, and the pipeline defects are marked. The process of instructing the UAV to conduct a first aerial-to-ground photograph of the pipeline laying area to obtain a ground image of the pipeline laying area includes: instructing the UAV to conduct an aerial-to-ground scan of the pipeline laying area in the visible light band to obtain a global ground image corresponding to the pipeline laying area, specifically including: Step S1: Since the drone may shake due to environmental factors during hovering and shooting, the following formula (1) is used to obtain the current downward shaking value of the drone based on the photo taken by the drone. （1） In the above formula (1), This indicates the predicted value of the current downward jitter of the drone; This represents the total pixel area value of the photo taken by the drone. This represents the total pixel area value of the pipeline laying area in the photo taken by the drone. This indicates the flight altitude value of the photo taken by the drone. This represents the fixed focal length value captured by the drone; Step S2: Using the formula (2) below, based on the current downward shaking value of the drone and the current weather conditions, determine whether to control the drone to fly upward a preset distance. （2） In the above formula (2), This represents a control value that controls the drone to fly upwards a preset distance; Indicates the preset distance threshold; This indicates that the maximum value between the two sides of the comma inside the parentheses is being calculated. This indicates the weather status value; if the current weather condition is severe, then... ,on the contrary ; like Then, the drone will be controlled to fly upwards a preset distance; like Then, the drone will be controlled to maintain its current state; Step S3: After the drone takes the next photo, the usage value of the next photo is controlled according to the jitter value between the current photo and the next photo, using the following formula (3). （3） In the above formula (3), Indicates the usage value of the next photo taken; This indicates the next flight altitude value captured by the drone; This indicates a preset distance for upward flight; like Then, the next photo taken will be used. like If so, then the next photo taken will not be used.

2. The pipeline inspection and control method based on the combination of sky and ground monitoring as described in claim 1, characterized in that: The ground images are analyzed to obtain the surface condition information of the pipeline laying area; Based on the surface condition information, all pipeline anomaly zones within the pipeline laying area are identified, including: The global ground image is analyzed to obtain the surface topography information of the pipeline laying area; wherein, the surface topography information includes the geological topography information of the surface area where the pipeline laying area is located; based on the surface topography information, all areas in the pipeline laying area where surface collapses exist are identified, and these are used as all pipeline anomaly intervals under the pipeline laying area.

3. The pipeline inspection and control method based on the combination of sky and ground monitoring as described in claim 1, characterized in that: Based on the location information of the pipeline anomaly zone, corresponding pipeline ground monitoring data is obtained. This data is then analyzed to determine whether a pipeline operational anomaly event has occurred in the pipeline anomaly zone, and all pipeline anomaly zones where such events have occurred are identified, including: Based on the distribution location information of the pipeline anomaly intervals along the pipeline length, the corresponding pipeline ground monitoring data for all pipeline anomaly intervals are obtained from the ground-based distributed monitoring system; wherein, the pipeline ground monitoring data includes pipeline deformation data and pipeline internal pressure data corresponding to the pipeline anomaly intervals. The pipeline deformation data is analyzed to obtain the maximum pipeline deformation amplitude in the abnormal pipeline region; the pipeline internal pressure data is analyzed to obtain the minimum pipeline internal pressure in the abnormal pipeline region; if the maximum pipeline deformation amplitude is greater than a preset pipeline elastic deformation amplitude or the minimum pipeline internal pressure is less than a preset pressure threshold, then it is determined that a pipeline operation abnormality event has occurred in the abnormal pipeline region; otherwise, it is determined that no pipeline operation abnormality event has occurred in the abnormal pipeline region, and the location information of all abnormal pipeline regions where pipeline operation abnormality events have occurred is marked.

4. The pipeline inspection and control method based on the combination of sky and ground monitoring as described in claim 1, characterized in that: Based on the location information of the abnormal pipeline section where the pipeline operation abnormality event occurred, the UAV is instructed to perform a second aerial-to-ground photograph of the corresponding abnormal pipeline section to obtain an image of the pipeline inside the abnormal pipeline section. The pipeline image is analyzed to identify pipeline defects in the abnormal pipeline region, and these defects are then marked, including: Based on the distribution location information of the abnormal pipeline section area along the pipeline length direction where the pipeline operation abnormal event occurred, the UAV is instructed to perform air-to-ground photography of the corresponding abnormal pipeline section area using invisible rays to obtain the pipeline internal flaw detection image of the abnormal pipeline section area. The in-pipe flaw detection images are analyzed to determine the pipe structural defects present in the abnormal pipe area, and the distribution location of the pipe structural defects is marked.

5. A pipeline inspection and control system based on a combination of aerial and ground monitoring, characterized in that, include: The first aerial-to-ground imaging module is used to instruct the UAV to perform the first aerial-to-ground imaging of the pipeline laying area to obtain ground images of the pipeline laying area; The first image analysis module is used to analyze the ground image to obtain the surface condition information of the pipeline laying area; based on the surface condition information, it determines all pipeline anomaly intervals within the pipeline laying area. The ground monitoring data acquisition and analysis module is used to acquire corresponding pipeline ground monitoring data based on the location information of the pipeline abnormal interval area, analyze the pipeline ground monitoring data, determine whether a pipeline operation abnormal event has occurred in the pipeline abnormal interval area, and mark all pipeline abnormal interval areas where pipeline operation abnormal events have occurred. The second air-to-ground imaging module is used to instruct the UAV to perform a second air-to-ground imaging of the corresponding abnormal pipeline section area based on the location information of the abnormal pipeline section area where the abnormal pipeline operation event has occurred, so as to obtain the pipeline image inside the abnormal pipeline section area. The second image analysis module is used to analyze the images inside the pipe, determine whether there are pipe defects in the abnormal pipe area, and mark the pipe defects. The process of instructing the UAV to conduct a first aerial-to-ground photograph of the pipeline laying area to obtain a ground image of the pipeline laying area includes: instructing the UAV to conduct an aerial-to-ground scan of the pipeline laying area in the visible light band to obtain a global ground image corresponding to the pipeline laying area, specifically including: Step S1: Since the drone may shake due to environmental factors during hovering and shooting, the following formula (1) is used to obtain the current downward shaking value of the drone based on the photo taken by the drone. （1） In the above formula (1), This indicates the predicted value of the current downward jitter of the drone; This represents the total pixel area value of the photo taken by the drone. This represents the total pixel area value of the pipeline laying area in the photo taken by the drone. This indicates the flight altitude value of the photo taken by the drone. This represents the fixed focal length value captured by the drone; Step S2: Using the formula (2) below, based on the current downward shaking value of the drone and the current weather conditions, determine whether to control the drone to fly upward a preset distance. （2） In the above formula (2), This represents a control value that controls the drone to fly upwards a preset distance; Indicates the preset distance threshold; This indicates that the maximum value between the two sides of the comma inside the parentheses is being calculated. This indicates the weather status value; if the current weather condition is severe, then... ,on the contrary ; like Then, the drone will be controlled to fly upwards a preset distance; like Then, the drone will be controlled to maintain its current state; Step S3: After the drone takes the next photo, the usage value of the next photo is controlled according to the jitter value between the current photo and the next photo, using the following formula (3). （3） In the above formula (3), Indicates the usage value of the next photo taken; This indicates the next flight altitude value captured by the drone; This indicates a preset distance for upward flight; like Then, the next photo taken will be used. like If so, then the next photo taken will not be used.

6. The pipeline inspection and control system based on the combination of sky and ground monitoring as described in claim 5, characterized in that: The first image analysis module is used to analyze the ground image to obtain surface condition information of the pipeline laying area; based on the surface condition information, it determines all pipeline anomaly zones within the pipeline laying area, including: The global ground image is analyzed to obtain the surface topography information of the pipeline laying area; wherein, the surface topography information includes the geological topography information of the surface area where the pipeline laying area is located; based on the surface topography information, all areas in the pipeline laying area where surface collapses exist are identified, and these are used as all pipeline anomaly intervals under the pipeline laying area.

7. The pipeline inspection and control system based on the combination of sky and ground monitoring as described in claim 5, characterized in that: The ground monitoring data acquisition and analysis module is used to acquire corresponding pipeline ground monitoring data based on the location information of the pipeline anomaly interval area, analyze the pipeline ground monitoring data, determine whether a pipeline operation anomaly event has occurred in the pipeline anomaly interval area, and mark all pipeline anomaly interval areas where pipeline operation anomaly events have occurred, including: Based on the distribution location information of the pipeline anomaly intervals along the pipeline length, the corresponding pipeline ground monitoring data for all pipeline anomaly intervals are obtained from the ground-based distributed monitoring system; wherein, the pipeline ground monitoring data includes pipeline deformation data and pipeline internal pressure data corresponding to the pipeline anomaly intervals. The pipeline deformation data is analyzed to obtain the maximum pipeline deformation amplitude in the abnormal pipeline region; the pipeline internal pressure data is analyzed to obtain the minimum pipeline internal pressure in the abnormal pipeline region; if the maximum pipeline deformation amplitude is greater than a preset pipeline elastic deformation amplitude or the minimum pipeline internal pressure is less than a preset pressure threshold, then it is determined that a pipeline operation abnormality event has occurred in the abnormal pipeline region; otherwise, it is determined that no pipeline operation abnormality event has occurred in the abnormal pipeline region, and the location information of all abnormal pipeline regions where pipeline operation abnormality events have occurred is marked.

8. The pipeline inspection and control system based on the combination of sky and ground monitoring as described in claim 5, characterized in that: The second air-to-ground imaging module is used to instruct the UAV to perform a second air-to-ground imaging of the corresponding abnormal pipeline section area based on the location information of the pipeline abnormality area where the pipeline operation anomaly event has occurred, to obtain an image of the pipeline inside the abnormal pipeline section area, including: Based on the distribution location information of the abnormal pipeline section area along the pipeline length direction where the pipeline operation abnormal event occurred, the UAV is instructed to perform air-to-ground photography of the corresponding abnormal pipeline section area using invisible rays to obtain the pipeline internal flaw detection image of the abnormal pipeline section area. The second image analysis module is used to analyze the in-pipe image, determine the presence of pipeline defects in the abnormal pipeline region, and mark the pipeline defects, including: The in-pipe flaw detection images are analyzed to determine the pipe structural defects present in the abnormal pipe area, and the distribution location of the pipe structural defects is marked.

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