Pipeline measurement method and system, electronic equipment and storage medium

Abstract

The present application discloses a pipeline measurement method and system, an electronic device and a storage medium. The pipeline measurement is performed by a pipeline measurement device, and the pipeline measurement device includes an inertial measurement unit, a camera and a pulse counter; the method includes: obtaining video data collected by the camera; determining the acceleration data and angular velocity data of the pipeline measurement device by the inertial measurement unit; determining the travel distance data of the pipeline measurement device by the pulse counter; determining the posture change information and motion state information of the pipeline measurement device according to the video data; determining the position information of the pipeline measurement device according to the acceleration data, angular velocity data, travel distance data, posture change information, and motion state information; determining the weld information according to the video data; determining the weld and the target position of the weld according to the weld information and position information. The embodiments of the present application can realize automatic measurement of pipelines and improve measurement efficiency and accuracy. The present application can be widely used in the field of intelligent measurement technology.

Description

Technical Field

[0001] The present application relates to the field of intelligent measurement technology, and in particular to a pipeline measurement method and system, electronic equipment and storage medium. Background Art

[0002] As more and more underground gas pipelines and oil pipelines are built, construction work around them requires accurate information about the location of the pipelines. At the same time, cracks in operating pipelines can cause gas or fuel leaks, which can easily lead to safety hazards. In related technologies, pipelines are usually measured by manual inspection to determine their location and status. This method is inefficient, highly dependent on manual experience, and has low detection accuracy. Summary of the invention

[0003] The main purpose of the embodiments of the present application is to provide an efficient pipeline measurement method and system, electronic equipment and storage medium.

[0004] To achieve the above-mentioned purpose, one aspect of an embodiment of the present application proposes a pipeline measurement method, which performs pipeline measurement through a pipeline measurement device, wherein the pipeline measurement device includes an inertial measurement unit, a camera, and a pulse counter; the method includes: obtaining video data collected by the camera; determining the acceleration data and angular velocity data of the pipeline measurement device through the inertial measurement unit; determining the travel distance data of the pipeline measurement device through the pulse counter; determining the posture change information and motion state information of the pipeline measurement device according to the video data; determining the position information of the pipeline measurement device according to the acceleration data and the angular velocity data, the travel distance data, the posture change information, and the motion state information; determining the weld information according to the video data; determining the weld and the target position of the weld according to the weld information and the position information. The embodiment of the present application detects the position and state of the pipeline through the pipeline measurement device, and realizes automatic measurement of the pipeline through video data, acceleration data, angular velocity data, and travel distance data, thereby improving measurement efficiency and accuracy.

[0005] In some embodiments, the method provided in the embodiments of the present application, determining the weld and the target position of the weld according to the weld information and the position information, includes:

[0006] By state matching, the position information, the posture change information and the motion state information are synchronized to determine the synchronization data;

[0007] Performing fusion processing on the synchronization data and the walking distance data to determine fusion information;

[0008] A target position is determined according to the weld information and the fusion information.

[0009] In some embodiments, the method provided in the embodiments of the present application, determining the posture change information of the pipeline measurement device according to the video data, includes:

[0010] Determining image information of each frame in the video data;

[0011] Determine coordinate values ​​of a plurality of feature points in continuous image information according to the basic information of the camera;

[0012] Intersection processing is performed on the coordinate values ​​to determine posture change information.

[0013] In some embodiments, the method provided in the embodiments of the present application, determining the position information of the pipeline measuring device according to the acceleration data and angular velocity data, the walking distance data, the posture change information, and the motion state information, includes:

[0014] Determining the forward speed of the pipeline measuring device according to the travel distance data and parameter information of the pulse counter;

[0015] Performing inertial navigation derivation on the acceleration data, the angular velocity data and the forward speed to obtain navigation differential data;

[0016] Integrate the continuous time intervals according to the navigation differential data to determine the speed update data and the attitude update data;

[0017] Position information is determined based on the speed update data and the posture update data.

[0018] In some embodiments, the method provided in the embodiments of the present application, determining the posture change information and motion state information of the pipeline measurement device according to the video data, includes:

[0019] Determining a sound signal according to the video data;

[0020] Determining a sound variance according to the sound signal and a preset frequency;

[0021] The motion state information is determined according to the sound variance and a preset variance.

[0022] In some embodiments, the method provided in the embodiments of the present application, determining the weld information according to the video data, includes:

[0023] Acquiring image information from the video data;

[0024] Performing grayscale processing on the image information to determine grayscale information;

[0025] Feature extraction and feature matching are performed on the grayscale information to determine the weld information.

[0026] In some embodiments, the method provided by the embodiments of the present application further includes:

[0027] Determining a motion state and a stationary state of the inertial measurement unit according to the angular velocity data;

[0028] According to the motion state and the stationary state, state matching is performed based on the motion state information, and the video data is time-synchronized with the angular velocity data.

[0029] To achieve the above object, another aspect of an embodiment of the present application provides a pipeline measurement system, the pipeline measurement system includes a pipeline measurement device, the pipeline measurement device includes an inertial measurement unit, a camera and a pulse counter; the pipeline measurement system includes:

[0030] The first module is used to obtain the video data collected by the camera; determine the acceleration data and angular velocity data of the pipeline measuring device through the inertial measurement unit; and determine the travel distance data of the pipeline measuring device through the pulse counter;

[0031] The second module is used to determine the posture change information and motion state information of the pipeline measurement device according to the video data;

[0032] A third module is used to determine the position information of the pipeline measuring device according to the acceleration data, the angular velocity data, the walking distance data, the posture change information, and the motion state information;

[0033] The fourth module is used to determine the weld information according to the video data;

[0034] The fifth module is used to determine the weld and the target position of the weld according to the weld information and the position information.

[0035] To achieve the above objective, another aspect of an embodiment of the present application provides an electronic device, the electronic device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the above method when executing the computer program.

[0036] To achieve the above objective, another aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program implements the above method when executed by a processor.

[0037] The embodiments of the present application at least include the following beneficial effects: the embodiments of the present application perform pipeline measurement through a pipeline measurement device, the pipeline measurement device includes an inertial measurement unit, a camera and a pulse counter; the method includes: obtaining video data collected by the camera; determining the acceleration data and angular velocity data of the pipeline measurement device through the inertial measurement unit; determining the travel distance data of the pipeline measurement device through the pulse counter; determining the posture change information and motion state information of the pipeline measurement device according to the video data; determining the position information of the pipeline measurement device according to the acceleration data, the angular velocity data, the travel distance data, the posture change information and the motion state information; determining the weld information according to the video data; determining the weld and the target position of the weld according to the weld information and the position information. The embodiments of the present application perform position and state detection of the pipeline through the pipeline measurement device, and realize automatic measurement of the pipeline through video data, acceleration data, angular velocity data and travel distance data, thereby improving measurement efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a flow chart of an embodiment of the pipeline measurement method provided by the present application;

[0039] Figure 2 is a flow chart of another embodiment of the pipeline measurement method provided by the present application;

[0040] Figure 3 is a structural diagram of an embodiment of a pipeline measurement system provided by the present application;

[0041] Figure 4 This is a structural diagram of an embodiment of the pipeline measurement device provided by the present application.

[0042] Figure 5 is a flowchart of an embodiment of a camera data determination process provided by the present application;

[0043] Figure 6 is a flowchart of an embodiment of the audio data processing process provided by the present application;

[0044] Figure 7 is a schematic diagram of an embodiment of the original image information provided by the present application;

[0045] Figure 8 is a schematic diagram of an embodiment of grayscale information provided by the present application;

[0046] Fig. 9 is a schematic diagram of an embodiment of image information after feature recognition provided by the present application;

[0047] Fig.10is a schematic diagram of an embodiment of the weld information provided by the present application;

[0048] Fig.11 is a schematic diagram of the structure of a pipeline measurement system provided in an embodiment of the present application;

[0049] Fig.12 It is a schematic diagram of the hardware structure of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0051] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0052] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0054] With urban development, there are more and more underground gas pipelines and oil pipelines. The surrounding construction needs to know the accurate location information of the pipeline. At the same time, cracks in the operating pipeline will cause gas or fuel leakage, and even cause safety hazards. In view of this, in order to realize the positioning of the pipeline, the visualization detection of the conditions inside the pipe, and the positioning of the weld, the embodiment of the present application designs a device that can be towed inside the pipeline for the pipeline structure, and installs an inertial measurement unit (IMU), a camera, a lighting lamp, a walking wheel group, and a pulse counter on the towing device to realize data collection. After the data collection is completed, the data is post-processed to calculate the three-dimensional position of the pipeline, the direction of the pipeline, and the image information inside the pipe, and finally realize the three-dimensional visualization of the pipeline.

[0055] The pipeline measurement method provided in the embodiment of the present application relates to the field of intelligent measurement technology. The pipeline measurement method provided in the embodiment of the present application can be applied to a terminal, can also be applied to a server, and can also be software running in a terminal or a server. In some embodiments, the terminal can be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, and a car terminal, etc., but is not limited to this; the server side can be configured as an independent physical server, or it can be configured as a server cluster or distributed system composed of multiple physical servers, and can also be configured to provide cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms and other basic cloud computing services. The server can also be a node server in a blockchain network; the software can be an application that implements the pipeline measurement method, etc., but is not limited to the above forms.

[0056] The present application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0057] It should be noted that in each specific implementation of the present application, when it comes to the need to perform relevant processing based on data related to user identity or characteristics such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of these data will comply with relevant laws, regulations, and standards. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.

[0058] Figure 1 is an optional flow chart of the pipeline measurement method provided in an embodiment of the present application; pipeline measurement is performed by a pipeline measurement device, and the pipeline measurement device includes an inertial measurement unit, a camera, and a pulse counter; Figure 1 The method may include but is not limited to steps S100 to S500.

[0059] Step S100, obtaining video data captured by a camera; determining acceleration data and angular velocity data of the pipeline measuring device through an inertial measurement unit; determining travel distance data of the pipeline measuring device through a pulse counter;

[0060] Step S200, determining the posture change information and motion state information of the pipeline measurement device according to the video data;

[0061] Step S300, determining the position information of the pipeline measuring device according to the acceleration data, the angular velocity data, the travel distance data, the posture change information and the motion state information;

[0062] Step S400, determining weld information according to video data;

[0063] Step S500, determining the weld and the target position of the weld according to the weld information and the position information.

[0064] In the present application, refer to Figure 2 , inertial measurement unit (i.e. Figure 2 The velocity data measured by the IMU in the pipeline measurement device can include acceleration and angular velocity information for subsequent position and attitude calculations. The data measured by the three components of the inertial measurement unit, camera and pulse counter in the pipeline measurement device need to be synchronized to determine the location of the specific weld.

[0065] In one embodiment, referring to Figure 3 and Figure 4The structure of the pipeline measurement system shown in the figure, wherein: the inertial measurement unit is installed inside the fuselage, and is used to collect the acceleration and angular velocity of the device when it moves. Three pulse counters are installed on the front wheels respectively, and the number of pulses is recorded when the wheel moves, and then the mileage of the device is calculated based on the number of pulses and the wheel diameter. The lighting lamp provides lighting for video recording. It can be understood that the above embodiments are illustrative examples, and the present application does not limit the specific device type and number of devices for data collection.

[0066] Specifically, the collection process is as follows: start the power supply of the device and place it at the mouth of the measured pipeline, keep it still for 10 seconds or more, use the traction line to drag the device to the end of the pipeline, keep it still for 10 seconds or more, and use the data cable, USB flash drive or Bluetooth communication method to copy the inertial measurement unit data, video data, and device mileage data to the computer. The computer processes the collected data to determine the specific location of the weld and the weld. For example, for IMU data, mileage data, and video data, the position (three-dimensional coordinates) and attitude (direction angle and pitch angle) of the device can be calculated by extended Kalman fusion.

[0067] In some embodiments, the method provided in the embodiments of the present application determines the weld and the target position of the weld according to the weld information and the position information, including:

[0068] Through state matching, the position information, posture change information and motion state information are synchronized to determine the synchronized data;

[0069] Perform fusion processing on the synchronization data and the walking distance data to determine the fusion information;

[0070] The target position is determined based on the weld information and fusion information.

[0071] In some possible implementations, the state of the device can be determined by a camera, and at the same time, the state of the device can also be determined by an inertial measurement unit; based on the matching of the two states, time synchronization is performed to determine the specific location of the picture / video taken by the camera.

[0072] In some embodiments, the method provided in the embodiments of the present application determines the posture change information of the pipeline measurement device according to the video data, including:

[0073] Determine the image information of each frame in the video data;

[0074] According to the basic information of the camera, the coordinate values ​​of the feature points in the continuous image information are determined;

[0075] The coordinate values ​​are intersected to determine the posture change information.

[0076] In some possible implementations, the posture change information of the device can be determined through audio data. Specifically, the video data processing process: refer to Figure 5 , extract the image information of each frame in the video, and the corresponding pixel coordinates of the same feature point in consecutive frame images U1(v1,u1), U2(v2,u2),…,U n (v n ,u n ), parallax d n It can be calculated by the difference between two pixel coordinates: n =|U n -U n-1 |, the three-dimensional coordinate value of the feature point P = (X, Y, Z) can be calculated through the camera parameters and parallax, and the calculation formula is as follows (1):

[0077]

[0078] Where: B is the baseline of the camera, f is the focal length, (C x , C y ) are the horizontal and vertical coordinates of the optical center of the camera. That is, the basic information in the embodiment of the present application includes information such as baseline and focal length.

[0079] The camera's posture change process is calculated by intersecting the image observations of multiple identical feature points in consecutive frame images. Since the camera and the device are fixedly connected, the changes in the camera directly reflect the changes in the device's posture.

[0080] In some embodiments, the method provided in the embodiments of the present application determines the position information of the pipeline measuring device according to the acceleration data and the angular velocity data, the walking distance data, the posture change information, and the motion state information, including:

[0081] Determine the forward speed of the pipeline measuring device according to the travel distance data and parameter information of the pulse counter;

[0082] Perform inertial navigation deduction on the acceleration data, angular velocity data and forward speed to obtain navigation differential data;

[0083] According to the navigation differential data, the continuous time intervals are integrated to determine the speed update data and attitude update data;

[0084] The position information is determined based on the speed update data and the attitude update data.

[0085] In some possible implementations, the position information is obtained based on the data measured by the IMU and the pulse counter, and the position information includes three-dimensional coordinate information and attitude information. Specifically, for the IMU and mileage data processing: According to the principle of the pulser calculating the mileage, the forward speed of the device can be obtained as formula (2):

[0086]

[0087] Where Δt is the acquisition time window size, N i Pulse count within the acquisition time window, k M is the mileage calibration coefficient, Δk M is the mileage calibration coefficient error, is the sampling noise.

[0088] In the subsequent combined solution, the scale factor error Δk M It needs to be introduced into the system to participate in the estimation. Since the non-integrity constraint can constrain the forward direction and vertical speed of the device, the pulse counter is installed on the wheel group to meet this constraint. Since the speed of the device points to the front during the walking process, its vector matrix expression in the device coordinate system is formula (3):

[0089]

[0090] In the formula, v o is the forward speed of the device.

[0091] According to the principle of inertial navigation mechanical arrangement, the navigation differential equation is derived through continuous inertial measurement unit data information. The navigation differential equation in the navigation coordinate system is expressed as formula (4):

[0092]

[0093] In the formula, i represents the geocentric inertial coordinate system (i system), n represents the local geographic coordinate system (n system), and b represents the carrier coordinate system (b system).

[0094] represents the direction cosine matrix from b to n, The direction cosine matrix from the navigation coordinate system to the earth coordinate system. and They are the rotational angular velocity of the e system relative to the i system in the n system, the rotational angular velocity of the e system relative to the n system in the n system, and the rotational angular velocity of the b system relative to the i system in the b system. n is the local gravitational acceleration in the n system. n is the projection of the carrier velocity in the n system, v D and h is the vertical component of the carrier velocity in the n system.

[0095] The attitude update of the inertial navigation is the process of updating the attitude using the angular velocity measured by the gyroscope. The calculation formula for the updated quaternion of the b system is formula (5):

[0096]

[0097] In the formula, is the four elements of b system between time k and time k-1, and its calculation formula is formula (6):

[0098]

[0099] In the formula, is the rotation vector in system b.

[0100] According to the velocity differential equation in the inertial navigation machinery arrangement, by integrating the continuous time intervals, the velocity update equation at time k in the e system can be obtained, such as formula (7):

[0101] v k =v k-1 +Δv f,k +Δv g / cor,k Formula (7)

[0102] In the formula, v k-1 is the velocity value at time k-1, Δv f,k is the velocity increment caused by the specific force, Δv g / cor,k is the velocity increment due to gravity and the Coriolis force.

[0103] The updated velocity value is obtained in the above, and then the position is updated according to the Euler formula to obtain the three-dimensional space coordinate value in the e system. The calculation formula is formula (8):

[0104] p k =p k-1 +0.5*(v k-1 +v k )Δt k Formula (8)

[0105] In the formula, p k With p k-1 are the position vector values ​​at time k and time k-1 respectively.

[0106] In some embodiments, the method provided in the embodiments of the present application determines the posture change information and motion state information of the pipeline measurement device according to the audio data, including:

[0107] Determine the sound signal based on the video data;

[0108] Determine the sound variance according to the sound signal and the preset frequency;

[0109] The motion state information is determined according to the sound variance and the preset variance.

[0110] In some possible implementations, for the audio processing process: the purpose of processing the audio is to synchronize the video and the inertial measurement unit data. The friction and vibration between the wheel set and the pipe during walking will produce sound. By extracting the sound signal from the recorded video, the sound signal is a one-dimensional time domain signal, such as Figure 6 It is a time domain diagram of the sound frequency changing over time. By setting the frequency data window size, the window data variance (i.e., sound variance) is calculated. When the variance value is within the set threshold (i.e., the preset variance), it is judged as a stationary state, otherwise it is a moving state.

[0111] Variance calculation formula: v = {(x1-avg) 2 +(x2-avg) 2 +(x3-avg) 2 +…+(xn-avg) 2} / n

[0112] Where: v is the variance; x1 to xn are the interval frequency values; n is the frequency data window size.

[0113] Similarly, the static or moving state of the inertial measurement unit data is identified, and the identified states are matched to solve the time synchronization problem between the video and the inertial measurement unit data.

[0114] In some embodiments, the method provided in the embodiments of the present application determines weld information based on video data, including:

[0115] Obtain image information from video data;

[0116] Performing grayscale processing on the image information to determine the grayscale information;

[0117] The grayscale information is subjected to feature extraction and feature matching to determine the weld information.

[0118] In some possible implementations, each frame of the video is extracted, such as Figure 7 As shown; grayscale processing of the image, such as Figure 8 As shown; extract image feature information, such as Fig. 9 As shown; matching is performed based on the weld being a circular ring feature, and the result is as follows Fig.10 shown.

[0119] In some embodiments, the method provided by the embodiments of the present application further includes:

[0120] Determine the motion state and stationary state of the inertial measurement unit based on the angular velocity data;

[0121] Determine the motion state and stationary state of the camera based on the video data;

[0122] According to the motion state and stationary state of the inertial measurement unit and the camera, state matching is performed based on the motion state information, and the video data and the angular velocity data are synchronized in time.

[0123] The embodiment of the present application uses a pipeline measurement device to measure the pipeline, and the pipeline measurement device includes an inertial measurement unit, a camera, and a pulse counter; the method includes: obtaining video data collected by the camera; determining the speed data of the pipeline measurement device through the inertial measurement unit; determining the travel distance data of the pipeline measurement device through the pulse counter; determining the posture change information and motion state information of the pipeline measurement device according to the video data; determining the position information of the pipeline measurement device according to the acceleration data, angular velocity data, travel distance data, posture change information, and motion state information; determining the weld information according to the video data; determining the weld and the target position of the weld according to the weld information and position information. The embodiment of the present application uses a pipeline measurement device to detect the position and state of the pipeline, and realizes automatic measurement of the pipeline through video data, acceleration data, angular velocity data, and travel distance data, thereby improving measurement efficiency and accuracy.

[0124] See also Fig.11 The embodiment of the present application further provides a pipeline measurement system, which can implement the above pipeline measurement method. The pipeline measurement system includes a pipeline measurement device, which includes an inertial measurement unit, a camera and a pulse counter; the pipeline measurement system includes:

[0125] The first module 810 is used to obtain the video data collected by the camera; determine the acceleration data and angular velocity of the pipeline measuring device through the inertial measurement unit; determine the travel distance data of the pipeline measuring device through the pulse counter;

[0126] The second module 820 is used to determine the posture change information and motion state information of the pipeline measurement device according to the video data;

[0127] The third module 830 is used to determine the position information of the pipeline measurement device according to the acceleration data and the angular velocity data, the travel distance data, the posture change information and the motion state information;

[0128] The fourth module 840 is used to determine the weld information according to the video data;

[0129] The fifth module 850 is used to determine the weld and the target position of the weld according to the weld information and the position information.

[0130] It can be understood that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0131] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above pipeline measurement method when executing the computer program. The electronic device can be any smart terminal including a tablet computer, a car computer, etc.

[0132] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0133] See also Fig.12 , Fig.12 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0134] The processor 901 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0135] The memory 902 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 902 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 902, and the processor 901 calls and executes the pipeline measurement method of the embodiment of this application;

[0136] Input / output interface 903, used to implement information input and output;

[0137] Communication interface 904, used to realize communication interaction between the device and other devices, which can be realized through wired mode (such as USB, network cable, etc.) or wireless mode (such as mobile network, WI FI, Bluetooth, etc.);

[0138] A bus 905 that transmits information between the various components of the device (e.g., the processor 901, the memory 902, the input / output interface 903, and the communication interface 904);

[0139] The processor 901 , the memory 902 , the input / output interface 903 and the communication interface 904 are connected to each other in communication within the device via a bus 905 .

[0140] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above pipeline measurement method is implemented.

[0141] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0142] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0143] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0144] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0145] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0146] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0147] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0148] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0149] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0150] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0151] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0152] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0153] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A pipeline measurement method, characterized in that: Pipeline measurement is performed by a pipeline measurement device, wherein the pipeline measurement device includes an inertial measurement unit, a camera, and a pulse counter; the method includes: Acquire video data collected by the camera; determine the acceleration data and angular velocity data of the pipeline measuring device through the inertial measurement unit; determine the travel distance data of the pipeline measuring device through the pulse counter; Determining posture change information and motion state information of the pipeline measuring device according to the video data; Determine the position information of the pipeline measuring device according to the acceleration data, the angular velocity data, the walking distance data, the posture change information and the motion state information; Determining weld information according to the video data; Determining a weld and a target position of the weld according to the weld information and the position information; The step of determining the weld and the target position of the weld according to the weld information and the position information includes: Through state matching, the position information, the posture change information and the motion state information are synchronized to determine synchronization data; the synchronization data is time synchronization; Performing fusion processing on the synchronization data and the walking distance data to determine fusion information; A target position is determined according to the weld information and the fusion information.

2. The method according to claim 1, characterized in that Determining the posture change information of the pipeline measuring device according to the video data includes: Determining image information of each frame in the video data; Determine the coordinate values ​​of feature points in continuous image information according to the basic information of the camera; Intersection processing is performed on the coordinate values ​​to determine posture change information.

3. The method according to claim 1, characterized in that Determining the position information of the pipeline measuring device according to the acceleration data, the angular velocity data, the walking distance data, the posture change information and the motion state information includes: Determine the forward speed of the pipeline measuring device according to the travel distance data and parameter information of the pulse counter; Performing inertial navigation derivation on the acceleration data, the angular velocity data, and the forward velocity to obtain navigation differential data; Integrate the continuous time intervals according to the navigation differential data to determine the speed update data and the attitude update data; Position information is determined based on the speed update data and the attitude update data.

4. The method according to claim 1, characterized in that: Determining the posture change information and motion state information of the pipeline measuring device according to the video data includes: Determining a sound signal according to the video data; Determining a sound variance according to the sound signal and a preset frequency; The motion state information is determined according to the sound variance and a preset variance.

5. The method according to claim 1, characterized in that Determining the weld information according to the video data includes: Acquiring image information from the video data; Performing grayscale processing on the image information to determine grayscale information; Feature extraction and feature matching are performed on the grayscale information to determine the weld information.

6. The method according to claim 1, characterized in that The method further comprises: determining a motion state and a stationary state of the inertial measurement unit according to the angular velocity data; According to the motion state and the stationary state, state matching is performed based on the motion state information, and the video data is time-synchronized with the angular velocity data.

7. A pipeline measurement system, characterized in that: The pipeline measurement system includes a pipeline measurement device, and the pipeline measurement device includes an inertial measurement unit, a camera and a pulse counter; the pipeline measurement system includes: The first module is used to obtain the video data collected by the camera; determine the acceleration data and angular velocity data of the pipeline measuring device through the inertial measurement unit; and determine the travel distance data of the pipeline measuring device through the pulse counter; The second module is used to determine the posture change information and motion state information of the pipeline measurement device according to the video data; A third module is used to determine the position information of the pipeline measuring device according to the acceleration data, the angular velocity data, the walking distance data, the posture change information and the motion state information; The fourth module is used to determine the weld information according to the video data; A fifth module is used to determine a weld and a target position of the weld according to the weld information and the position information; Through state matching, the position information, the posture change information and the motion state information are synchronized to determine synchronization data; the synchronization data is time synchronization; Performing fusion processing on the synchronization data and the walking distance data to determine fusion information; A target position is determined according to the weld information and the fusion information.

8. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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