Underground pipeline intelligent detection system and method based on artificial intelligence

Abstract

The invention discloses an underground pipeline intelligent detection system and method based on artificial intelligence, and relates to the technical field of underground pipeline intelligent detection, and the system comprises an underground pipeline intelligent detection module, an underground pipeline robot intelligent control module, an advancing speed control instruction analysis module and a manual examination module. The output end of the underground pipeline intelligent detection module is connected with the input end of the underground pipeline robot intelligent control module; the underground pipeline robot intelligent control module is connected with the advancing speed control instruction analysis module; the output end of the advancing speed control instruction analysis module is connected with the input end of the manual examination module. The cable-free robot can solve the power supply problem related to a cable-free robot in the underground pipeline detection process, energy loss caused by sliding friction between the robot and the pipe wall at various corners is reduced, self-adaptive speed adjustment is achieved, the energy utilization rate is increased, the working time of the robot is prolonged, and the working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underground pipeline intelligent detection, and in particular to an underground pipeline intelligent detection system and method based on artificial intelligence. Background Art

[0002] The health of underground pipeline lines is directly related to the normal operation of the city and the daily life of residents. Therefore, routine inspections to prevent the accumulation of defects and major safety hazards and economic losses have become an important part of urban development. With the development of artificial intelligence technology, the industry's detection of underground pipelines has gradually changed from pure manual to semi-intelligent and semi-manual, that is, through underground pipeline robots, deep underground pipelines are used, and the multi-line laser radar configured by the robot itself is used to form a push-sweep map of the inside of the underground pipeline, and the situation inside the underground pipeline is fed back to the ground, and then manually judged based on the feedback data image. However, throughout the entire process, the energy consumption problem of underground pipeline robots has been difficult to solve. At present, the energy supply methods of pipeline robots mainly include towing cables and cable-free methods. Although the use of towing cables can effectively solve the problem of insufficient power supply and provide certain guarantees for the safe operation of the pipeline robot, it increases the load of the pipeline robot and limits the maximum travel range of the pipeline robot. Although the cable-free method reduces the load constraint, the energy density is low, and the power supply situation gradually decreases as the robot goes deeper. In particular, the interior of the pipeline is complex and there are many corners. When passing through a bend, a large amount of energy is lost due to the sliding friction between the robot and the pipe wall. Therefore, how to achieve speed adjustment according to the conditions of different bends, reduce the energy loss caused by sliding friction, and improve the energy endurance of the pipeline robot in the cable-free state has become an urgent problem to be solved. Summary of the invention

[0003] The purpose of the present invention is to provide an underground pipeline intelligent detection system and method based on artificial intelligence to solve the problems raised in the prior art.

[0004] To achieve the above object, the present invention provides the following technical solution: an intelligent detection method for underground pipelines based on artificial intelligence, the method comprising the following steps: S1. Build an underground pipeline intelligent detection platform, connect the underground pipeline robot, and form data feedback interaction between the underground pipeline robot and the detection platform; S2. The underground pipeline robot scans the underground pipeline data in real time in the underground pipeline, moves along the detection path transmitted by the underground pipeline intelligent detection platform, obtains the curvature information and path progress of different bends on the path, and feeds back to the underground pipeline robot control platform; S3. The underground pipeline robot is equipped with a travel speed control instruction analysis module, which calls historical travel data to form a travel speed control instruction analysis model, and outputs signals to control the travel speed of the underground pipeline robot at different positions; S4. The underground pipeline intelligent detection platform obtains the detection feedback information of the underground pipeline robot on the underground pipeline and transmits it to the manual review module for secondary manual inspection.

[0005] According to the above technical solution, it also includes: The underground pipeline robot realizes wireless two-way communication with the underground pipeline intelligent detection platform through the relay system; The underground pipeline robot control platform is equipped with a remote control platform for generating motion posture commands, which include forward, backward and turning; The underground pipeline robot also includes: a laser rangefinder for detecting the distance between the underground pipeline robot and the bend in front of the pipeline; a gyroscope for detecting the angular velocity of the underground pipeline robot; and a camera for collecting and uploading video data of the underground pipeline in real time; The underground pipeline intelligent detection platform also issues a path map instruction. The system prioritizes forming a detection path map for the underground pipeline path that needs to be detected, guides the robot to move along the detection path according to the robot's positioning system, and obtains the path progress on the path at the same time. The path progress refers to the distance between the bend point to be passed and the next bend point.

[0006] According to the above technical solution, in steps S2-S3, it also includes: The historical travel data includes curve monitoring data, and the curve monitoring data includes curve curvature information data, speed change data and power consumption data; The curve monitoring data time point starts from L meters before the curve point to be passed to L meters before the next curve point, where L is a constant item set by the system; The power loss data includes various types of power loss during the process of passing through the curve, and the specific calculation includes:

[0007] in, Represents the total power loss; Refers to the power loss caused by deceleration before the curve point to be passed; Refers to the power loss caused by passing the curve at the current speed; Refers to the power loss caused by the path process; if the path process is less than or equal to L, the path process is carried out while maintaining the speed of the curve point; if the path process is greater than L, the path process is changed to the speed before the curve point; Set the speed of the underground pipeline robot before the curve to , at L meters before the curve, the speed is reduced to , with speed When passing through a curve, different total power losses are generated based on the path progress. When the path progress is less than or equal to L, the total power loss is:

[0008] in, Refers to speed Slow down to Power loss; Speed Power loss through bends; Refers to speed Power loss through bends; Refers to the path process; Refers to unit one; , Respectively refers to the speed , When traveling downward, the power consumption per unit is 1; When the path progress is less than or equal to L, the total power loss is:

[0009] in, Refers to speed Speed ​​up to of power loss.

[0010] According to the above technical solution, it also includes: Based on the speed change data in the historical travel data, the speed change data refers to the data tested by continuously changing the speed in the test site. For any speed, take N groups of unit power loss data, and take the average value as the power loss per unit at any speed; For any curve curvature, the system sets a fixed matching speed, takes N groups of different power consumption data at the same speed, and takes the average value as the power consumption data of the speed at any curve curvature; The underground pipeline robot is used to collect power consumption change data by uniform acceleration or uniform deceleration from a stationary state, and the average value of N groups of data is taken as the power consumption data for each speed switching unit during the uniform acceleration or uniform deceleration process; During the movement, the total power loss is calculated before the curve. If the total power loss is greater than 0, the robot passes at the original speed; if the total power loss is less than or equal to 0, the robot passes at a fixed matching speed set by the system; the output signal is used to control the movement speed of the underground pipeline robot at different positions.

[0011] An underground pipeline intelligent detection system based on artificial intelligence, the system comprises: an underground pipeline intelligent detection module, an underground pipeline robot intelligent control module, a travel speed control instruction analysis module and a manual review module; The underground pipeline intelligent detection module is used to construct an underground pipeline intelligent detection platform, connect the underground pipeline robot, and form data feedback interaction between the underground pipeline robot and the detection platform; the underground pipeline robot intelligent control module is used to control the underground pipeline robot to scan the underground pipeline data in real time in the underground pipeline, travel according to the detection path transmitted by the underground pipeline intelligent detection platform, obtain the curvature information and path progress of different bends on the path, and control the travel speed of the underground pipeline robot at different positions; the travel speed control instruction analysis module is used to call historical travel data, form a travel speed control instruction analysis model, and output signals to the underground pipeline robot intelligent control module; the manual review module is used to receive the detection feedback information of the underground pipeline robot on the underground pipeline, and perform secondary manual inspection; The output end of the underground pipeline intelligent detection module is connected to the input end of the underground pipeline robot intelligent control module; the underground pipeline robot intelligent control module is connected to the travel speed control instruction analysis module; the output end of the travel speed control instruction analysis module is connected to the input end of the manual review module.

[0012] According to the above technical solution, the underground pipeline intelligent detection module includes a detection platform construction unit and a data feedback unit; The detection platform construction unit is used to construct an underground pipeline intelligent detection platform and connect the underground pipeline robot; the data feedback unit is used to form data feedback interaction between the underground pipeline robot and the detection platform; The output end of the detection platform construction unit is connected to the input end of the data feedback unit.

[0013] According to the above technical solution, the underground pipeline robot intelligent control module includes a real-time scanning unit and a speed control unit; The real-time scanning unit is used to control the underground pipeline robot to scan the underground pipeline data in real time in the underground pipeline; the speed control unit is used to travel according to the detection path transmitted by the underground pipeline intelligent detection platform, obtain the curvature information and path progress of different bends on the path, and control the travel speed of the underground pipeline robot at different positions; The output end of the real-time scanning unit is connected to the input end of the speed control unit.

[0014] According to the above technical solution, the travel speed control instruction analysis module includes an instruction analysis unit and a feedback control unit; The instruction analysis unit is used to call historical travel data to form a travel speed control instruction analysis model; the feedback control unit is used to form an output signal and feed it back to the intelligent control module of the underground pipeline robot; The output end of the instruction analysis unit is connected to the input end of the feedback control unit.

[0015] According to the above technical solution, the manual review module includes a detection receiving unit and a manual detection unit; The detection receiving unit is used to receive the detection feedback information of the underground pipeline robot on the underground pipeline; the manual detection unit is used to identify the monitoring data of the underground pipeline and feed it back to the administrator for secondary manual detection; The output end of the detection receiving unit is connected to the input end of the manual detection unit.

[0016] Compared with the prior art, the beneficial effects of the present invention are: the present invention can solve the power supply problem involved in the use of cable-free robots in the process of underground pipeline inspection, reduce load constraints, reduce the energy loss caused by the sliding friction between the robot and the pipe wall at various corners, realize adaptive speed regulation, improve energy utilization, extend the robot's working time, and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The present invention is a flowchart of an intelligent underground pipeline detection method based on artificial intelligence. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Example: Figure 1 As shown, the present invention provides a technical solution, firstly, an underground pipeline robot is placed at the entrance of an underground pipeline, and the entrance is used as the initial position of the robot, the initial position is recorded in the underground pipeline intelligent detection platform, and the trajectory is drawn through the underground pipeline detection path map input by the system; the underground pipeline robot is started, and video is collected in real time during the movement of the robot, and the collected video data is uploaded to the underground pipeline intelligent detection platform through the relay system; The underground pipeline robot scans the underground pipeline data in real time in the underground pipeline, and moves according to the detection path transmitted by the underground pipeline intelligent detection platform. The underground pipeline robot realizes wireless two-way communication with the underground pipeline intelligent detection platform through the relay system, obtains the curvature information and path progress of different bends on the path, and feeds back to the underground pipeline robot control platform; During the robot's movement, the laser rangefinder and the gyroscope work simultaneously: the laser rangefinder continuously emits lasers in the robot's forward direction to detect the distance to the turning point ahead; the gyroscope detects the robot's angular velocity in real time during the movement; the controller receives the distance data detected by the laser rangefinder and the angular velocity detected by the gyroscope; The underground pipeline intelligent detection platform also issues a path map instruction. The system prioritizes forming a detection path map for the underground pipeline path that needs to be detected, guides the robot to move along the detection path according to the robot's positioning system, and obtains the path progress on the path at the same time. The path progress refers to the distance between the bend point to be passed and the next bend point.

[0020] The underground pipeline robot is equipped with a travel speed control instruction analysis module, which calls historical travel data to form a travel speed control instruction analysis model, and outputs signals to control the travel speed of the underground pipeline robot at different positions; The historical travel data includes curve monitoring data, and the curve monitoring data includes curve curvature information data, speed change data and power consumption data; The curve monitoring data time point starts from L meters before the curve point to be passed to L meters before the next curve point, where L is a constant item set by the system; The power loss data includes various types of power loss during the process of passing through the curve, and the specific calculation includes:

[0021] in, Represents the total power loss; Refers to the power loss caused by deceleration before the curve point to be passed; Refers to the power loss caused by passing the curve at the current speed; Refers to the power loss caused by the path process; if the path process is less than or equal to L, the path process is carried out while maintaining the speed of the curve point; if the path process is greater than L, the path process is changed to the speed before the curve point; Set the speed of the underground pipeline robot before the curve to , at L meters before the curve, the speed is reduced to , with speed When passing through a curve, different total power losses are generated based on the path progress. When the path progress is less than or equal to L, the total power loss is:

[0022] in, Refers to speed Slow down to Power loss; Speed Power loss through bends; Refers to speed Power loss through bends; Refers to the path process; Refers to unit one; , Respectively refers to the speed , When traveling downward, the power consumption per unit is 1; When the path progress is less than or equal to L, the total power loss is:

[0023] in, Refers to speed Speed ​​up to of power loss.

[0024] Based on the speed change data in the historical travel data, the speed change data refers to the data tested by continuously changing the speed in the test site. For any speed, take N groups of unit power loss data, and take the average value as the power loss per unit at any speed; For any curve curvature, the system sets a fixed matching speed, takes N groups of different power consumption data at the same speed, and takes the average value as the power consumption data of the speed at any curve curvature; The underground pipeline robot is used to collect power consumption change data by uniform acceleration or uniform deceleration from a stationary state, and the average value of N groups of data is taken as the power consumption data for each speed switching unit during the uniform acceleration or uniform deceleration process; During the movement, the total power loss is calculated before the curve. If the total power loss is greater than 0, the robot passes at the original speed; if the total power loss is less than or equal to 0, the robot passes at a fixed matching speed set by the system; the output signal is used to control the movement speed of the underground pipeline robot at different positions.

[0025] The underground pipeline intelligent detection platform obtains the detection feedback information of the underground pipeline robot on the underground pipeline and transmits it to the manual review module for secondary manual inspection.

[0026] In this embodiment, an underground pipeline intelligent detection system based on artificial intelligence is also provided, which includes: an underground pipeline intelligent detection module, an underground pipeline robot intelligent control module, a travel speed control instruction analysis module and a manual review module; The underground pipeline intelligent detection module is used to construct an underground pipeline intelligent detection platform, connect the underground pipeline robot, and form data feedback interaction between the underground pipeline robot and the detection platform; the underground pipeline robot intelligent control module is used to control the underground pipeline robot to scan the underground pipeline data in real time in the underground pipeline, travel according to the detection path transmitted by the underground pipeline intelligent detection platform, obtain the curvature information and path progress of different bends on the path, and control the travel speed of the underground pipeline robot at different positions; the travel speed control instruction analysis module is used to call historical travel data, form a travel speed control instruction analysis model, and output signals to the underground pipeline robot intelligent control module; the manual review module is used to receive the detection feedback information of the underground pipeline robot on the underground pipeline, and perform secondary manual inspection; The output end of the underground pipeline intelligent detection module is connected to the input end of the underground pipeline robot intelligent control module; the underground pipeline robot intelligent control module is connected to the travel speed control instruction analysis module; the output end of the travel speed control instruction analysis module is connected to the input end of the manual review module.

[0027] The underground pipeline intelligent detection module includes a detection platform construction unit and a data feedback unit; The detection platform construction unit is used to construct an underground pipeline intelligent detection platform and connect the underground pipeline robot; the data feedback unit is used to form data feedback interaction between the underground pipeline robot and the detection platform; The output end of the detection platform construction unit is connected to the input end of the data feedback unit.

[0028] The underground pipeline robot intelligent control module includes a real-time scanning unit and a speed control unit; The real-time scanning unit is used to control the underground pipeline robot to scan the underground pipeline data in real time in the underground pipeline; the speed control unit is used to travel according to the detection path transmitted by the underground pipeline intelligent detection platform, obtain the curvature information and path progress of different bends on the path, and control the travel speed of the underground pipeline robot at different positions; The output end of the real-time scanning unit is connected to the input end of the speed control unit.

[0029] The travel speed control instruction analysis module includes an instruction analysis unit and a feedback control unit; The instruction analysis unit is used to call historical travel data to form a travel speed control instruction analysis model; the feedback control unit is used to form an output signal and feed it back to the intelligent control module of the underground pipeline robot; The output end of the instruction analysis unit is connected to the input end of the feedback control unit.

[0030] The manual review module includes a detection receiving unit and a manual detection unit; The detection receiving unit is used to receive the detection feedback information of the underground pipeline robot on the underground pipeline; the manual detection unit is used to identify the monitoring data of the underground pipeline and feed it back to the administrator for secondary manual detection; The output end of the detection receiving unit is connected to the input end of the manual detection unit.

[0031] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be considered as exemplary and non-restrictive in all respects.

Claims

1. An intelligent underground pipeline detection method based on artificial intelligence, characterized in that: The method comprises the following steps: S1. Build an underground pipeline intelligent detection platform, connect the underground pipeline robot, and form data feedback interaction between the underground pipeline robot and the detection platform; S2. The underground pipeline robot scans the underground pipeline data in real time in the underground pipeline, moves along the detection path transmitted by the underground pipeline intelligent detection platform, obtains the curvature information and path progress of different bends on the path, and feeds back to the underground pipeline robot control platform; S3. The underground pipeline robot is equipped with a travel speed control instruction analysis module, which calls historical travel data to form a travel speed control instruction analysis model, and outputs signals to control the travel speed of the underground pipeline robot at different positions; S4. The underground pipeline intelligent detection platform obtains the detection feedback information of the underground pipeline robot on the underground pipeline and transmits it to the manual review module for secondary manual inspection.

2. The method for intelligent underground pipeline detection based on artificial intelligence according to claim 1, characterized in that: Also includes: The underground pipeline robot realizes wireless two-way communication with the underground pipeline intelligent detection platform through the relay system; The underground pipeline robot control platform is equipped with a remote control platform for generating motion posture commands, which include forward, backward and turning; The underground pipeline robot also includes: a laser rangefinder for detecting the distance between the underground pipeline robot and the bend in front of the pipeline; a gyroscope for detecting the angular velocity of the underground pipeline robot; and a camera for collecting and uploading video data of the underground pipeline in real time; The underground pipeline intelligent detection platform also issues a path map instruction. The system prioritizes forming a detection path map for the underground pipeline path that needs to be detected, guides the robot to move along the detection path according to the robot's positioning system, and obtains the path progress on the path at the same time. The path progress refers to the distance between the bend point to be passed and the next bend point.

3. The method for intelligent underground pipeline detection based on artificial intelligence according to claim 2 is characterized in that: In steps S2-S3, it also includes: The historical travel data includes curve monitoring data, and the curve monitoring data includes curve curvature information data, speed change data and power consumption data; The curve monitoring data time point starts from L meters before the curve point to be passed to L meters before the next curve point, where L is a constant item set by the system; The power loss data includes various types of power loss during the process of passing through the curve, and the specific calculation includes: in, Represents the total power loss; Refers to the power loss caused by deceleration before the curve point to be passed; Refers to the power loss caused by passing the curve at the current speed; Refers to the power loss caused by the path process; if the path process is less than or equal to L, the path process is carried out while maintaining the speed of the curve point; if the path process is greater than L, the path process is changed to the speed before the curve point; Set the speed of the underground pipeline robot before the curve to , at L meters before the curve, the speed is reduced to , with speed When passing through a curve, different total power losses are generated based on the path progress. When the path progress is less than or equal to L, the total power loss is: in, Refers to speed Slow down to Power loss; Speed Power loss through curves; Refers to speed Power loss through curves; Refers to the path process; Refers to unit one; , Respectively refers to the speed , When traveling downward, the power consumption per unit is 1; When the path progress is less than or equal to L, the total power loss is: in, Refers to speed Speed ​​up to of power loss.

4. The method for intelligent underground pipeline detection based on artificial intelligence according to claim 3 is characterized in that: Also includes: Based on the speed change data in the historical travel data, the speed change data refers to the data tested by continuously changing the speed in the test site. For any speed, take N groups of unit power loss data, and take the average value as the power loss per unit at any speed; For any curve curvature, the system sets a fixed matching speed, takes N groups of different power consumption data at the same speed, and takes the average value as the power consumption data of the speed at any curve curvature; The underground pipeline robot is used to collect power consumption change data by uniform acceleration or uniform deceleration from a stationary state, and the average value of N groups of data is taken as the power consumption data for each speed switching unit during the uniform acceleration or uniform deceleration process; During the movement, the total power loss is calculated before the curve. If the total power loss is greater than 0, the robot passes at the original speed; if the total power loss is less than or equal to 0, the robot passes at a fixed matching speed set by the system; the output signal is used to control the movement speed of the underground pipeline robot at different positions.

5. An intelligent underground pipeline detection system based on artificial intelligence, characterized in that: The system includes: an underground pipeline intelligent detection module, an underground pipeline robot intelligent control module, a travel speed control instruction analysis module and a manual review module; The underground pipeline intelligent detection module is used to construct an underground pipeline intelligent detection platform, connect the underground pipeline robot, and form data feedback interaction between the underground pipeline robot and the detection platform; the underground pipeline robot intelligent control module is used to control the underground pipeline robot to scan the underground pipeline data in real time in the underground pipeline, travel according to the detection path transmitted by the underground pipeline intelligent detection platform, obtain the curvature information and path progress of different bends on the path, and control the travel speed of the underground pipeline robot at different positions; the travel speed control instruction analysis module is used to call historical travel data, form a travel speed control instruction analysis model, and output signals to the underground pipeline robot intelligent control module; the manual review module is used to receive the detection feedback information of the underground pipeline robot on the underground pipeline, and perform secondary manual inspection; The output end of the underground pipeline intelligent detection module is connected to the input end of the underground pipeline robot intelligent control module; the underground pipeline robot intelligent control module is connected to the travel speed control instruction analysis module; the output end of the travel speed control instruction analysis module is connected to the input end of the manual review module.

6. The underground pipeline intelligent detection system based on artificial intelligence according to claim 5 is characterized by: The underground pipeline intelligent detection module includes a detection platform construction unit and a data feedback unit; The detection platform construction unit is used to construct an underground pipeline intelligent detection platform and connect the underground pipeline robot; the data feedback unit is used to form data feedback interaction between the underground pipeline robot and the detection platform; The output end of the detection platform construction unit is connected to the input end of the data feedback unit.

7. The underground pipeline intelligent detection system based on artificial intelligence according to claim 5 is characterized by: The underground pipeline robot intelligent control module includes a real-time scanning unit and a speed control unit; The real-time scanning unit is used to control the underground pipeline robot to scan the underground pipeline data in real time in the underground pipeline; the speed control unit is used to travel according to the detection path transmitted by the underground pipeline intelligent detection platform, obtain the curvature information and path progress of different bends on the path, and control the travel speed of the underground pipeline robot at different positions; The output end of the real-time scanning unit is connected to the input end of the speed control unit.

8. The underground pipeline intelligent detection system based on artificial intelligence according to claim 5 is characterized by: The travel speed control instruction analysis module includes an instruction analysis unit and a feedback control unit; The instruction analysis unit is used to call historical travel data to form a travel speed control instruction analysis model; the feedback control unit is used to form an output signal and feed it back to the intelligent control module of the underground pipeline robot; The output end of the instruction analysis unit is connected to the input end of the feedback control unit.

9. The underground pipeline intelligent detection system based on artificial intelligence according to claim 5 is characterized by: The manual review module includes a detection receiving unit and a manual detection unit; The detection receiving unit is used to receive the detection feedback information of the underground pipeline robot on the underground pipeline; the manual detection unit is used to identify the monitoring data of the underground pipeline and feed it back to the administrator for secondary manual detection; The output end of the detection receiving unit is connected to the input end of the manual detection unit.

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