Municipal drainage pipeline detection robot and method

Abstract

The present application provides a municipal drainage pipeline detection robot and method, the robot includes a walking mechanism and a collection and analysis system, the collection and analysis system includes a collection unit, a processing unit, a three-dimensional modeling unit and a storage unit, the collection unit is used to collect internal data of the pipeline, the processing unit is used to pre-process the collected data, the three-dimensional modeling unit constructs a three-dimensional model of the pipeline according to the processed image data, and the storage unit is used to store the generated three-dimensional model. The present invention realizes comprehensive, efficient and intelligent detection of the internal structure of the pipeline, dirt deposition, water leakage points, etc. through the walking mechanism and the collection and analysis system. The detection scheme provided by the present invention can efficiently and thoroughly detect various problems inside the pipeline, reduce flood disasters and environmental pollution problems caused by pipeline blockage or rupture, and at the same time, the robot is used to replace manual entry into dangerous environments for detection, thereby ensuring the safety of the staff.

Description

Technical Field

[0001] The present invention relates to the technical field of municipal drainage, and in particular to a municipal drainage pipeline detection robot and method. Background Art

[0002] Municipal drainage pipes are an important part of urban infrastructure, responsible for collecting and discharging rainwater, domestic sewage and industrial wastewater. With the acceleration of urbanization, the scale of drainage pipes continues to expand. Sediment, garbage, grease and other debris in the pipes can easily lead to pipe blockage, affecting the normal operation of the drainage system. In addition, problems such as aging, corrosion and rupture of pipes also occur from time to time, bringing potential risks to the city's environmental sanitation and safety.

[0003] Traditional pipeline inspection methods mainly include manual inspection, closed-circuit television (CCTV) inspection, acoustic wave inspection, etc. These methods have the following shortcomings: Manual inspection: Manual inspection requires workers to enter narrow pipes to perform operations, which creates a harsh working environment and poses safety risks. In addition, manual inspection is inefficient and difficult to handle large-scale inspection tasks.

[0004] CCTV detection: Although CCTV detection can provide video images of the inside of the pipeline, its detection range is limited, it cannot analyze abnormal conditions in the image in real time, and it has poor adaptability to complex pipeline networks.

[0005] Acoustic wave detection: Acoustic wave detection is mainly used to detect structural problems in pipelines, such as cracks, leaks, etc., but it is not effective in detecting dirt deposition inside the pipeline and non-structural problems.

[0006] Therefore, the development of a municipal drainage pipe inspection robot and method that can comprehensively, efficiently and intelligently detect various problems inside the pipe has important practical significance and application prospects. Summary of the invention

[0007] The purpose of the present invention is to address the problems existing in the prior art and to propose a municipal drainage pipe inspection robot and method to solve the problems of low inspection efficiency and poor accuracy in the prior art.

[0008] In a first aspect of the present invention, a municipal drainage pipeline inspection robot is provided, comprising a walking mechanism and a collection and analysis system, wherein the collection and analysis system is arranged at the head of the walking mechanism and is used to collect image data in the pipeline and analyze and generate a three-dimensional model of the interior of the pipeline; wherein: The walking mechanism includes a support rod, connecting rings are fixedly provided at both ends of the support rod, three groups of parallelogram mechanisms are hinged on two of the connecting rings, rotating wheels are installed at both ends of the connecting rod of each group of parallelogram mechanisms, two rotating wheels on the same group of parallelogram mechanisms are connected by belts, one of the rotating wheels is connected to the motor drive, a sleeve ring is also slidably provided on the support rod, three pull rods are hinged on the sleeve ring, and the three pull rods are respectively hinged to one of the cranks of the three groups of parallelogram mechanisms, and a compression spring is also sleeved on the support rod, and the compression spring is sleeved between the sleeve ring and the connecting ring at the tail; The acquisition and analysis system includes an acquisition unit, a processing unit, a three-dimensional modeling unit and a storage unit. The acquisition unit is used to acquire internal data of the pipeline. The processing unit is used to pre-process the acquired data. The three-dimensional modeling unit constructs a three-dimensional model of the pipeline according to the processed image data. The storage unit is used to store the generated three-dimensional model. Further, the acquisition unit includes a camera, a laser radar and an ultrasonic sensor. The camera is arranged at the end of the walking mechanism and is used to acquire image data of the inner wall of the pipeline to obtain a panoramic image of the inner wall of the pipeline. The laser radar is used to obtain the geometric shape of the pipeline and the location information of the dirt in the pipeline. The ultrasonic sensor is used to detect the thickness of the pipeline wall and the leakage point. The processing unit is used to analyze the data acquired by the camera, the laser radar and the ultrasonic sensor. The three-dimensional modeling unit produces a color three-dimensional model of the pipeline in real time based on the analysis results of the processing unit. Further, the processing unit performs distortion correction and image enhancement processing on the acquired image of the inner wall of the pipeline to improve the image quality, and uses an image segmentation algorithm to distinguish different parts of the structure, dirt deposition and cracks inside the pipeline, so as to facilitate subsequent feature extraction and analysis and provide high-quality data for subsequent three-dimensional modeling. Furthermore, the acquisition and analysis system also includes a remote control unit, which is communicatively connected to the motor and the control end respectively.

[0009] A second aspect of the present invention provides a municipal drainage pipe inspection method, using any of the municipal drainage pipe inspection robots described above, specifically comprising the following steps: Pull the sleeve ring backward to compress the parallelogram mechanism, then put the running mechanism into the outlet of the drainage pipe to be tested, so that each wheel abuts against the inner wall of the pipe; The acquisition and analysis system is turned on, and the motor is started to drive the walking mechanism to move forward along the inner wall of the pipeline. At the same time, the acquisition and analysis system collects and analyzes the data of the inner wall of the pipeline to generate a colored three-dimensional model of the inner wall of the pipeline; wherein the processing unit processes the data collected by the acquisition unit as follows: After distortion correction and image enhancement processing are performed on the image data collected by the camera, the image segmentation algorithm is used to distinguish the different parts of the internal structure, dirt deposition, and cracks of the pipeline, which is convenient for subsequent feature extraction and analysis, and provides high-quality data for subsequent 3D modeling; The NDT algorithm is used to align the three-dimensional point cloud data collected by the lidar to ensure the consistency of the point cloud data; The echo signal collected by the ultrasonic sensor is firstly enhanced by using signal enhancement technology to improve the signal strength and clarity, and then denoised by using Fourier transform method.

[0010] The technical solution provided by the embodiment of the present invention may have the following beneficial effects: The present invention discloses a municipal drainage pipeline detection scheme, which realizes comprehensive, efficient and intelligent detection of the internal structure, dirt deposition, water leakage points, etc. of the pipeline through a walking mechanism and a collection and analysis system. The detection scheme provided by the present invention can efficiently and thoroughly detect various problems inside the pipeline, reduce flood disasters and environmental pollution problems caused by pipeline blockage or rupture, and indirectly save a lot of maintenance and governance costs for the city. At the same time, the robot replaces manual entry into dangerous environments for detection, ensuring the safety of the staff.

[0011] This system is not only suitable for the inspection of municipal drainage pipes, but can also be widely used in other types of pipeline inspection tasks. It has broad application prospects and market potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of a three-dimensional structure of the present invention.

[0013] Figure 2 It is another three-dimensional structural schematic diagram of the present invention.

[0014] Figure 3 for Figure 1 Front view of .

[0015] Figure 4 It is a system schematic diagram of the acquisition and analysis system in the present invention.

[0016] In the above drawings: 10, walking mechanism; 11, support rod; 12, connecting ring; 13, sleeve ring; 14, pull rod; 15, compression spring; 20, acquisition and analysis system; 21, acquisition unit; 22, processing unit; 23, three-dimensional modeling unit; 24, camera; 25, storage unit; 26, laser radar; 27, ultrasonic sensor; 28, remote control unit; 30, parallelogram mechanism; 31, connecting rod; 32, rotating wheel; 33, belt; 34, motor; 35, crank. The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than 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.

[0017] like Figure 1-4 The present embodiment is a municipal drainage pipe inspection robot, comprising a walking mechanism 10 and a collection and analysis system 20. The collection and analysis system 20 is arranged at the head of the walking mechanism 10 and is used to collect image data in the pipe and analyze and generate a three-dimensional model of the inside of the pipe; wherein, The walking mechanism 10 includes a support rod 11, and connecting rings 12 are fixed at both ends of the support rod 11. Three groups of parallelogram mechanisms 30 are hinged on two of the connecting rings. Wheels 32 are installed at both ends of the connecting rod 31 of each group of the parallelogram mechanisms 30. The two wheels 32 on the same group of parallelogram mechanisms 30 are connected by a belt 33, and one of the wheels 32 is connected to the motor 34. A sleeve ring 13 is also slidably provided on the support rod 11, and three pull rods 14 are hinged on the sleeve ring 13. The three pull rods 14 are respectively hinged to one of the cranks 35 of the three groups of parallelogram mechanisms 30. A compression spring 15 is also sleeved on the support rod 11, and the compression spring 15 is sleeved between the sleeve ring 13 and the connecting ring 12 at the tail; like Figure 4 As shown, the acquisition and analysis system 20 includes an acquisition unit 21, a processing unit 22, a three-dimensional modeling unit 23 and a storage unit 25. The acquisition unit 21 is used to acquire internal data of the pipeline, the processing unit 22 is used to pre-process the acquired data, the three-dimensional modeling unit 23 constructs a three-dimensional model of the inside of the pipeline according to the processed image data, and the storage unit 25 is used to store the generated three-dimensional model.

[0018] In the above embodiment, the walking mechanism 10 and the collection and analysis system 20 can obtain various information such as the structural condition, dirt deposition, and water leakage points inside the pipeline in real time, ensuring the comprehensiveness and accuracy of the detection results. The intelligent detection system can efficiently and thoroughly detect various problems inside the pipeline, reducing flood disasters and environmental pollution caused by pipeline blockage or rupture, and indirectly saving a lot of maintenance and governance costs for the city. At the same time, the robot replaces manual entry into dangerous environments for detection, ensuring the safety of the staff.

[0019] In a feasible specific embodiment, as Figure 3 and Figure 4As shown, on the basis of the above embodiment, the acquisition unit 21 includes a camera 24, a laser radar 26 and an ultrasonic sensor 27. The camera 24 is arranged at the end of the walking mechanism 11, and is used to collect image data of the inner wall of the pipeline to obtain a panoramic image of the inner wall of the pipeline. The laser radar 26 is used to obtain the geometric shape of the pipeline and the location information of the dirt in the pipeline. The ultrasonic sensor 27 is used to detect the thickness and leakage point of the pipeline wall; the processing unit 22 is used to analyze the data collected by the camera 24, the laser radar 26 and the ultrasonic sensor 27, and the three-dimensional modeling unit 23 produces a color three-dimensional model of the pipeline in real time based on the analysis result of the processing unit 22.

[0020] In the above embodiment, the front end of the robot is equipped with a camera 24, a laser radar 26, and an ultrasonic sensor 27. These sensors can collect a variety of information inside the pipeline in real time and provide basic data for subsequent data analysis.

[0021] In some preferred embodiments, the processing unit 21 performs distortion correction and image enhancement processing on the collected image of the inner wall of the pipeline to improve the image quality, and uses an image segmentation algorithm to distinguish different parts of the structure, dirt deposition, and cracks inside the pipeline to facilitate subsequent feature extraction and analysis, thereby providing high-quality data for subsequent three-dimensional modeling.

[0022] In the above embodiments, since the camera may have distortion, especially the wide-angle lens, it is necessary to correct the image distortion to ensure the authenticity and accuracy of the image. For areas with insufficient light or severe reflection, image enhancement techniques such as histogram equalization and adaptive brightness adjustment can be used to improve the visibility of the image.

[0023] Specifically, Figure 4 As shown, the acquisition and analysis system 20 includes an acquisition unit 21, a processing unit 22, a three-dimensional modeling unit 23 and a storage unit 25. The acquisition unit 21 is used to acquire internal data of the pipeline, the processing unit 22 is used to pre-process the acquired data, the three-dimensional modeling unit 23 constructs a three-dimensional model of the inside of the pipeline according to the processed image data, and the storage unit 25 is used to store the generated three-dimensional model.

[0024] It is understandable that in order to combine real-time image information for control, it is also convenient for technicians to collect image information in a more targeted manner, such as Figure 4 As shown, in this embodiment, the acquisition and analysis system 20 further includes a remote control unit 28, which is respectively connected to the motor 34 and the control end in communication. In this way, the technician can control the walking speed of the walking mechanism 10 according to the real-time image information.

[0025] As another preferred embodiment of the present invention, this embodiment provides a preferred municipal drainage pipe detection method, using any of the municipal drainage pipe detection robots described above, specifically comprising the following steps: Pull the sleeve ring 13 backward to compress the parallelogram mechanism 30, and then put the running mechanism 11 into the outlet of the drainage pipe to be tested, so that each wheel 32 abuts against the inner wall of the pipe; The acquisition and analysis system 20 is turned on, and the motor 34 is started to drive the walking mechanism 11 to move forward along the inner wall of the pipeline. At the same time, the acquisition and analysis system 20 collects and analyzes the data of the inner wall of the pipeline to generate a colored three-dimensional model of the inner wall of the pipeline; wherein the processing unit 22 processes the data collected by the acquisition unit 21 as follows: After distortion correction and image enhancement processing are performed on the image data collected by the camera 24, the image segmentation algorithm is used to distinguish different parts of the structure, dirt deposition, and cracks inside the pipeline, so as to facilitate subsequent feature extraction and analysis and provide high-quality data for subsequent three-dimensional modeling; Since the laser radar may produce data drift during movement, the three-dimensional point cloud data collected by the laser radar 26 is registered using the NDT (Normal Distributions Transform) algorithm to ensure the consistency of the point cloud data; The echo signal collected by the ultrasonic sensor 27 is first subjected to signal enhancement technology to improve the signal strength and clarity, and then subjected to denoising processing using the Fourier transform method.

[0026] In addition, in order to reduce the amount of calculation, the point cloud data can also be simplified, retaining key feature points and removing redundant points. Common simplification methods include voxel grid method, random sampling method, etc.

[0027] What is disclosed above is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of rights of the present invention. A person skilled in the art can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A municipal drainage pipe inspection robot, characterized in that: The invention comprises a walking mechanism (10) and a collection and analysis system (20), wherein the collection and analysis system (20) is arranged at the head of the walking mechanism (10) and is used to collect image data in the pipeline and analyze and generate a three-dimensional model of the interior of the pipeline; wherein: The walking mechanism (10) comprises a support rod (11), connecting rings (12) are fixedly provided at both ends of the support rod (11), three groups of parallelogram mechanisms (30) are hingedly connected to two of the connecting rings, rotating wheels (32) are installed at both ends of the connecting rod (31) of each group of parallelogram mechanisms (30), two rotating wheels (32) on the same group of parallelogram mechanisms (30) are connected by a belt (33), one of the rotating wheels (32) is connected to a motor (34) for driving, a sleeve ring (13) is also slidably provided on the support rod (11), three pull rods (14) are hingedly connected to the sleeve ring (13), and the three pull rods (14) are respectively hingedly connected to one of the cranks (35) of the three groups of parallelogram mechanisms (30), and a compression spring (15) is also sleeved on the support rod (11), and the compression spring (15) is sleeved between the sleeve ring (13) and the connecting ring (12) located at the tail; The acquisition and analysis system (20) comprises an acquisition unit (21), a processing unit (22), a three-dimensional modeling unit (23) and a storage unit (25); the acquisition unit (21) is used to acquire internal data of a pipeline; the processing unit (22) is used to pre-process the acquired data; the three-dimensional modeling unit (23) constructs a three-dimensional model of the interior of the pipeline based on the processed image data; and the storage unit (25) is used to store the generated three-dimensional model.

2. The municipal drainage pipe inspection robot according to claim 1, characterized in that: The acquisition unit (21) comprises a camera (24), a laser radar (26) and an ultrasonic sensor (27); the camera (24) is arranged at the end of the walking mechanism (11) and is used to acquire image data of the inner wall of the pipeline to obtain a panoramic image of the inner wall of the pipeline; the laser radar (26) is used to obtain the geometric shape of the pipeline and the location information of dirt in the pipeline; the ultrasonic sensor (27) is used to detect the thickness of the pipeline wall and the water leakage point; the processing unit (22) is used to analyze the data collected by the camera (24), the laser radar (26) and the ultrasonic sensor (27); the three-dimensional modeling unit (23) generates a color three-dimensional model of the pipeline in real time based on the analysis result of the processing unit (22).

3. The municipal drainage pipe inspection robot according to claim 1, characterized in that: The processing unit (21) performs distortion correction and image enhancement processing on the collected pipeline inner wall image to improve the image quality, and uses an image segmentation algorithm to distinguish different parts of the structure, dirt deposition, and cracks inside the pipeline, so as to facilitate subsequent feature extraction and analysis, and provide high-quality data for subsequent three-dimensional modeling.

4. The municipal drainage pipe inspection robot according to claim 1, characterized in that: The acquisition and analysis system (20) further comprises a remote control unit (28), wherein the remote control unit (28) is communicatively connected to the motor (34) and the control end respectively.

5. A municipal drainage pipeline detection method, characterized in that: The municipal drainage pipe inspection robot according to any one of claims 1 to 4 is used, and specifically comprises the following steps: After pulling the sleeve ring (13) backward to compress the parallelogram mechanism (30), the walking mechanism (11) is placed into the outlet of the drainage pipe to be tested, so that each rotating wheel (32) abuts against the inner wall of the pipe; The collection and analysis system (20) is turned on, and the motor (34) is started to drive the walking mechanism (11) to move forward along the inner wall of the pipeline. At the same time, the collection and analysis system (20) collects and analyzes the data of the inner wall of the pipeline to generate a colored three-dimensional model of the inner wall of the pipeline; wherein the processing unit (22) processes the data collected by the collection unit (21) as follows: After distortion correction and image enhancement processing are performed on the image data collected by the camera (24), an image segmentation algorithm is used to distinguish different parts of the structure, dirt deposition, and cracks inside the pipeline, so as to facilitate subsequent feature extraction and analysis and provide high-quality data for subsequent three-dimensional modeling; The three-dimensional point cloud data collected by the laser radar (26) is registered using an NDT algorithm to ensure the consistency of the point cloud data; The echo signal collected by the ultrasonic sensor (27) is first subjected to a signal enhancement technique to improve the strength and clarity of the signal, and then subjected to a Fourier transform method for denoising.

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