A pipeline deformation detection method and system

Abstract

The present application relates to a pipeline deformation detection method and system, belonging to the field of pipeline detection technology. The method includes obtaining the inner contour of the pipeline detection; creating a randomly movable detection point on the inner contour of the pipeline detection and determining an adjacent point at a fixed distance from the detection point; establishing a detection ray passing through the adjacent point with the detection point as the starting point and determining the detection angle bisector; defining a convex point according to the detection angle bisector and determining a convex region according to each convex point; controlling the cleaning device to move to the convex region for operation and obtaining the foreign object cleaning resistance; judging whether the foreign object cleaning resistance is greater than the upper limit resistance; if not, controlling the cleaning device to continue the operation, and obtaining the inner contour of the pipeline detection again after completely passing through the convex region to upload the inner contour of the pipeline detection to the information acquisition center. The present application has the effect of facilitating a relatively accurate determination of the pipeline deformation situation.

Description

Technical Field

[0001] The present application relates to the field of pipeline detection technologies, and in particular, to a pipeline deformation detection method and system. Background Art

[0002] Pipeline transportation is a relatively stable and reliable transportation mode. Pipeline deformation is a problem often encountered during the use of pipelines. Pipeline deformation has a great impact on pipelines. Long-term pipeline deformation will affect the normal transportation of liquids in the pipeline and even cause the pipeline to rupture. Therefore, during the maintenance of pipelines, it is necessary to detect pipeline deformation, and this detection mainly refers to detecting the geometric deformation of the pipeline by measuring the inner diameter of the pipeline.

[0003] In related technologies, the method for detecting the inner diameter of a pipeline is usually to put a pipeline inner diameter detection trolley with sensors into the pipeline opening. The detection trolley advances by moving in a circular motion along the inner wall of the pipeline. During the advancement, the pipeline inner diameter detection trolley uses a laser sensor to measure the inner diameter of the pipe wall and uses a linear displacement sensor to measure its own position. By using a processing device such as a computer to capture the position of the trolley in real time and record the trajectory, the inner diameter, roundness, and internal contour of the entire pipeline can be obtained.

[0004] Regarding the above-mentioned related technologies, the inventor believes that when a protrusion is detected on the internal contour of the pipeline, it is impossible to effectively determine whether the protrusion is caused by pipeline deformation or the accumulation of transported impurities in the pipeline, so it is impossible to effectively and accurately determine the specific deformation situation of the pipeline, and there is still room for improvement. Summary of the Invention

[0005] In order to facilitate the relatively accurate determination of the pipeline deformation situation, the present application provides a pipeline deformation detection method and system.

[0006] In a first aspect, the present application provides a pipeline deformation detection method, adopting the following technical solution:

[0007] A pipeline deformation detection method includes:

[0008] Obtain the internal contour of the pipeline for detection;

[0009] Create a randomly movable detection point on the internal contour of the pipeline for detection, and determine an adjacent point on the internal contour of the pipeline for detection that is separated from the detection point by a preset fixed distance;

[0010] Establish a detection ray passing through the adjacent point with the detection point as the starting point, and determine the detection angle bisector according to the two detection rays;

[0011] Define the detection point when the detected angle bisector intersects the inner contour of the pipeline detection only at the detection point as the convex point, and determine the convex area according to each convex point;

[0012] Control the preset cleaning device to move to the convex area for operation and obtain the foreign object cleaning resistance in real time;

[0013] Judge whether the foreign object cleaning resistance is greater than the preset upper limit resistance;

[0014] If the foreign object cleaning resistance is greater than the upper limit resistance, control the cleaning device to stop operating and obtain the inner contour of the pipeline detection again to upload the inner contour of the pipeline detection to the preset information acquisition center;

[0015] If the foreign object cleaning resistance is not greater than the upper limit resistance, control the cleaning device to continue operating, and obtain the inner contour of the pipeline detection again after completely passing through the convex area to upload the inner contour of the pipeline detection to the information acquisition center.

[0016] Optionally, the steps of determining the convex area according to each convex point include:

[0017] Obtain the convex interval distance between adjacent convex points;

[0018] Induce the convex points with a convex interval distance less than the preset adjacent required distance into the same initially empty convex induction set;

[0019] Determine the set contour according to the convex points in the same convex induction set, and define the part of the inner contour of the pipeline detection that is not the set contour as the normal inner contour;

[0020] Create a randomly movable coordinate origin within the area enclosed by the inner contour of the pipeline detection, and establish a simulated pipeline contour according to the coordinate origin and randomly variable elliptical parameters;

[0021] Determine the contour coincidence ratio according to the simulated pipeline contour and the normal inner contour;

[0022] Determine the numerically largest contour coincidence ratio according to the preset sorting rule, and determine the simulated pipeline contour corresponding to the contour coincidence ratio as the unstacked required contour;

[0023] Determine the convex area according to the unstacked required contour and the inner contour of the pipeline detection.

[0024] Optionally, the steps of creating a randomly movable coordinate origin within the area enclosed by the inner contour of the pipeline detection include:

[0025] Connect any two contour points on the normal inner contour to determine the contour connection line segment, and define the point where the contour connection line segment intersects as the intersection point;

[0026] Count at each intersection point according to the definition of the intersection point to determine the number of intersections;

[0027] Determine the maximum number of intersections according to the sorting rule, define this maximum number of intersections as the upper limit number, and define the intersection point corresponding to the upper limit number as the theoretical center point;

[0028] Use the theoretical center point as the center and a preset unit distance as the radius to delimit a unit area, and calculate the difference between the number of intersections of each intersection point and the upper limit number within the unit area to determine the difference number;

[0029] Define the intersection points with the difference number less than the preset reasonable number as valid points, determine the valid area according to each valid point, and create a random coordinate origin within the valid area.

[0030] Optionally, after determining the number of intersections, the pipeline deformation detection method further includes:

[0031] Judge whether there are at least two intersection points with the same and maximum number of intersections;

[0032] If there are not at least two intersection points with the same and maximum number of intersections, determine the theoretical center point according to the intersection points;

[0033] If there are at least two intersection points with the same and maximum number of intersections, define these intersection points as alternative points, determine any alternative point as the simulation center point, and determine the unit area according to the simulation center point;

[0034] Count according to the alternative points within each unit area to determine the alternative quantity;

[0035] Determine the maximum alternative quantity according to the sorting rule, and determine the simulation center point corresponding to this maximum alternative quantity as the theoretical center point.

[0036] Optionally, after determining the alternative quantity, the pipeline deformation detection method further includes:

[0037] Judge whether there are at least two simulation center points with the same alternative quantity;

[0038] If there are not at least two simulation center points with the same alternative quantity, determine the theoretical center point according to the simulation center points;

[0039] If there are at least two simulation center points with the same alternative quantity, determine the alternative separation distance according to the simulation center points and the alternative points within the corresponding unit area;

[0040] Calculate the mean value according to the alternative separation distance to determine the simulated mean distance;

[0041] Determine the simulated mean distance with the smallest value according to the sorting rule, and determine the theoretical center point according to the simulated center point corresponding to the simulated mean distance.

[0042] Optionally, it further includes the step of determining the randomly variable ellipse parameters, and this step includes:

[0043] Obtain the contour separation distance of the contour connected line segments;

[0044] According to the sorting rule, determine the two contour points with the largest contour separation distance as the long axis endpoints, define the two contour points of the contour connected line segment perpendicular to the contour connected line segment formed by the long axis endpoints as the short axis endpoints, and jointly define the short axis endpoints and the long axis endpoints as the limit endpoints;

[0045] Determine the point separation distance according to the limit endpoints and the convex points;

[0046] Define the limit endpoints with a point separation distance less than the preset proximity distance as the similar endpoints;

[0047] Count the similar endpoints among the short axis endpoints and the long axis endpoints respectively to determine the number of similarities;

[0048] Confirm the correction distance corresponding to the number of similarities according to the preset correction matching relationship;

[0049] Perform a difference calculation based on the contour separation distance of the short axis endpoints and the corresponding correction distance to determine the lower limit value of the parameter, and perform a summation calculation based on the contour separation distance of the long axis endpoints and the corresponding correction distance to determine the upper limit value of the parameter;

[0050] Determine the parameter variation range according to the lower limit value and the upper limit value of the parameter, and determine the randomly variable ellipse parameters within the parameter variation range.

[0051] Optionally, after the convex region is determined, the pipeline deformation detection method further includes:

[0052] Define the midpoint of the set contour as the most concave point, and determine the concave point separation distance according to the most concave point and the contour points on the unstacked required contour;

[0053] Determine the smallest concave point separation distance according to the sorting rule, and define the concave point separation distance as the depression deformation depth;

[0054] Determine the abnormal contour line according to the unstacked required contour and the convex region, and obtain the abnormal endpoint coordinates of the two endpoints of the abnormal contour line;

[0055] Determine the upper limit deformation depth corresponding to the unstacked required contour and the abnormal endpoint coordinates according to the preset depth matching relationship;

[0056] Determine whether the depth of the concave deformation is greater than the upper limit of the deformation depth;

[0057] If the depth of the concave deformation is not greater than the upper limit of the deformation depth, control the cleaning device to operate;

[0058] If the depth of the concave deformation is greater than the upper limit of the deformation depth, remove the convex area to modify the inner contour of the pipeline inspection.

[0059] In a second aspect, the present application provides a pipeline deformation detection system, adopting the following technical solution:

[0060] A pipeline deformation detection system, including:

[0061] An acquisition module, configured to acquire the inner contour of the pipeline inspection;

[0062] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;

[0063] A judgment module, connected to the acquisition module and the processing module, for judging information;

[0064] The processing module creates a randomly movable detection point on the inner contour of the pipeline inspection, and determines adjacent points separated from the detection point by a preset fixed distance on the inner contour of the pipeline inspection;

[0065] The processing module establishes a detection ray passing through the adjacent points with the detection point as the starting point, and determines the detection angle bisector according to the two detection rays;

[0066] The processing module defines the detection point when the detection angle bisector intersects the inner contour of the pipeline inspection only at the detection point as a convex point, and determines the convex area according to each convex point;

[0067] The processing module controls a preset cleaning device to move to the convex area for operation and enables the acquisition module to acquire the foreign object cleaning resistance in real time;

[0068] The judgment module judges whether the foreign object cleaning resistance is greater than a preset upper limit resistance;

[0069] If the judgment module judges that the foreign object cleaning resistance is greater than the upper limit resistance, the processing module controls the cleaning device to stop operating and acquires the inner contour of the pipeline inspection again to upload the inner contour of the pipeline inspection to a preset information collection center;

[0070] If the judgment module judges that the foreign object cleaning resistance is not greater than the upper limit resistance, the processing module controls the cleaning device to continue operating, and acquires the inner contour of the pipeline inspection again after completely passing through the convex area to upload the inner contour of the pipeline inspection to the information collection center.

[0071] In summary, the present application includes at least one of the following beneficial technical effects:

[0072] When detecting the deformation of a pipeline, the convex points in the inner contour can be identified and analyzed, and the corresponding cleaning device can be controlled to process the convex points to determine whether the convex points are formed by the accumulation of debris inside the pipeline, so as to make the obtained inner contour of the pipeline more accurate, facilitating a more accurate determination of the pipeline deformation situation;

[0073] For some protrusions, the overall deformation situation of the pipeline can be used to determine whether the protrusions are formed by the accumulation of debris inside the pipeline, reducing the occurrence of the situation where each protrusion requires the cleaning device to operate, and improving the overall detection efficiency. Brief Description of the Drawings

[0074] Figure 1 is a flowchart of the pipeline deformation detection method.

[0075] Figure 2 is a schematic diagram of the pipeline contour.

[0076] Figure 3 is a flowchart of the method for determining the protrusion area.

[0077] Figure 4 is a flowchart of the method for creating the coordinate origin.

[0078] Figure 5 is a flowchart of the method for screening intersection points.

[0079] Figure 6 is a flowchart of the method for screening the simulation center point.

[0080] Figure 7 is a flowchart of the method for determining the ellipse parameters.

[0081] Figure 8 is a flowchart of the method for removing abnormal convex points.

[0082] Figure 9 is a module flowchart of the pipeline deformation detection method. Detailed Embodiments

[0083] In order to make the purpose, technical solutions and advantages of the present application clearer, the following is a further detailed description of the present application in combination with Figures 1-9 and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0084] The following further describes the embodiments of the present application in conjunction with the accompanying drawings of the specification.

[0085] An embodiment of the present application discloses a method for detecting pipeline deformation. When detecting pipeline deformation, the internal contour of the pipeline is obtained through a pipeline detection trolley, the convex point situation of the obtained internal contour is analyzed, and some convex points that cannot be deformed are removed in combination with the overall deformation situation of the pipeline. Then, a cleaning device is controlled to operate on each convex point to determine whether the convex point is formed by the accumulation of impurities inside the pipeline, so as to facilitate a more accurate determination of the pipeline deformation situation.

[0086] Referring to Figure 1 , the method flow of the pipeline deformation detection method includes the following steps:

[0087] Step S100: Obtain the internal detection contour of the pipeline.

[0088] The internal detection contour of the pipeline is the internal cross-sectional contour of the pipeline obtained after the pipeline inner diameter detection trolley moves circumferentially inside the pipeline. Referring to Figure 2 .

[0089] Step S101: Create a randomly movable detection point on the internal detection contour of the pipeline, and determine adjacent points on the internal detection contour of the pipeline that are separated from the detection point by a preset fixed distance.

[0090] The detection point is a random point on the internal detection contour of the pipeline, the fixed distance is a fixed value set by the staff, and the adjacent point is a point on the internal detection contour of the pipeline whose straight-line distance from the detection point is the fixed distance. Therefore, there is an adjacent point on each side of the detection point.

[0091] Step S102: Establish a detection ray passing through the adjacent point with the detection point as the starting point, and determine the detection angle bisector according to the two detection rays.

[0092] The detection ray is a ray with the detection point as the endpoint and passing through an adjacent point. The two detection rays will form an angle with the detection point as the vertex. The detection angle bisector is the bisector of this angle. Referring to Figure 2 .

[0093] Step S103: Define the detection point when the detection angle bisector intersects the internal detection contour of the pipeline only at the detection point as a convex starting point, and determine the convex region according to each convex starting point.

[0094] When the detection angle bisector intersects the internal detection contour of the pipeline only at the detection point, it means that the detection point bulges inward. Referring to Figure 2 , it is defined as a convex starting point for identification to facilitate subsequent analysis; the convex region is the region where the convex starting point is located. The convex region can be determined by adjacent convex starting points, or can be determined by the method of Step S200 - Step S206.

[0095] Step S104: Control the preset cleaning device to move to the raised area for operation and obtain the foreign object cleaning resistance in real time.

[0096] The cleaning device is a device carried on the inner diameter detection trolley of the pipeline, which has the function of cleaning foreign objects inside the pipeline. For example, a movable shovel carried on the trolley is used. By moving the cleaning device to the raised area for operation, the foreign objects inside the pipeline can be cleaned. The moving method of the cleaning device is to abut one end of the raised area and control it to move to the other end of the raised area; the foreign object cleaning resistance is the resistance that the cleaning device will receive during the moving process, and it can be determined by setting a pressure sensor at the position on the cleaning device for shoveling the raised position.

[0097] Step S105: Determine whether the foreign object cleaning resistance is greater than the preset upper limit resistance.

[0098] The upper limit resistance is the minimum foreign object cleaning resistance set by the staff when it is determined that the raised part is not formed by the accumulation of sundries inside the pipeline. The purpose of the judgment is to know whether the currently detected raised position is formed by the inward depression from the outside of the pipeline, that is, to judge whether the raised part is a pipeline deformation.

[0099] Step S1051: If the foreign object cleaning resistance is greater than the upper limit resistance, control the cleaning device to stop operating and obtain the inner contour of the pipeline detection again to upload the inner contour of the pipeline detection to the preset information collection center.

[0100] When the foreign object cleaning resistance is greater than the upper limit resistance, it means that the raised position is formed by the pipeline deformation. At this time, it means that the inner contour of the pipeline detection obtained at the position of the raised part is the real contour of the pipeline. At this time, it can be normally uploaded to the information collection center for the staff to conduct subsequent deformation analysis. The information collection center is the information center where the staff obtains the internal data of the pipeline.

[0101] Step S1052: If the foreign object cleaning resistance is not greater than the upper limit resistance, control the cleaning device to continue operating, and obtain the inner contour of the pipeline detection again after completely passing through the raised area to upload the inner contour of the pipeline detection to the information collection center.

[0102] When the foreign object cleaning resistance is not greater than the upper limit resistance, it means that the detected part at this position is formed by the accumulation of sundries. At this time, normally controlling the cleaning device to operate can achieve the cleaning of the sundries. At the same time, when the cleaning device completely passes through the raised area, it means that the raised position is completely composed of the accumulation of sundries. At this time, the sundries have been cleaned by the cleaning device. The inner contour of the pipeline detection can be obtained again by moving the detection trolley, so as to obtain the actual deformation situation of the pipeline; in order to improve the overall operation efficiency, the trolley can be controlled to move only in the raised area.

[0103] Reference Figure 3 The steps for determining the convex region based on each convex point include:

[0104] Step S200: Obtain the distance between adjacent convex points where the convexity is separated.

[0105] Adjacent convex points are the two closest convex points along the inner contour of the pipeline inspection. The distance between the convexities is the distance value between the two convex points on the inner contour of the pipeline inspection.

[0106] Step S201: Group the convex points with a distance between the convexities less than a preset adjacent requirement distance into the same initially empty convexity grouping set.

[0107] The adjacent requirement distance is the maximum distance between convex points set by the staff when determining that two convex points are in the same pipeline deformation position. Grouping the closer convex points into the same convexity grouping set facilitates the analysis of the specific convexity situation inside the pipeline. There are multiple convexity grouping sets, initially empty sets, for placing convex points.

[0108] Step S202: Determine the set contour based on the convex points in the same convexity grouping set, and define the part of the inner contour of the pipeline inspection that is not the set contour as the normal inner contour.

[0109] The set contour is the contour formed by the convex points in the same convexity grouping set, which is determined by the outermost convex points in the convexity grouping set. Refer to Figure 2 , the normal inner contour is the contour on the inner contour of the pipeline inspection where there are no convex points. Determining the set contour and the normal inner contour realizes the distinction of different positions on the inner contour of the pipeline inspection, facilitating subsequent analysis.

[0110] Step S203: Create a randomly movable coordinate origin within the region enclosed by the inner contour of the pipeline inspection, and establish a simulated pipeline contour based on the coordinate origin and randomly variable elliptical parameters.

[0111] The coordinate origin is a random point within the region enclosed by the inner contour of the pipeline inspection. The elliptical parameters include the major axis value and the minor axis value of the ellipse. A coordinate system with different directions as the X-axis is established at the coordinate origin, and different ellipses can be constructed according to the corresponding elliptical parameters. This ellipse is the simulated pipeline contour, that is, the possible inner contour when the pipeline is compressed and deformed. The setting of the elliptical parameters can be randomly determined, so there are countless simulated pipeline contours.

[0112] Step S204: Determine the overlapping ratio of the contours based on the simulated pipeline contour and the normal inner contour.

[0113] The ratio of contour overlap is the ratio of the overlapping part between the established simulated pipeline contour and the current normal internal contour to the whole normal internal contour, which can be determined by the ratio of the number of overlapping contour points to the number of all contour points.

[0114] Step S205: Determine the contour overlap ratio with the largest value according to the preset sorting rule, and determine the simulated pipeline contour corresponding to this contour overlap ratio as the non-accumulation required contour.

[0115] The sorting rule is a method set by the staff for sorting numerical values, such as the bubble sort method. Through the sorting rule, the contour overlap ratio with the largest value can be determined. That is, the simulated pipeline contour corresponding to the contour overlap ratio is the theoretical contour closest to the pipeline contour. At this time, it is defined as the non-accumulation required contour for subsequent analysis; the non-accumulation required contour is the internal contour that the pipeline should maintain when there is no inward bulge after the current degree of deformation.

[0116] Step S206: Determine the convex area according to the non-accumulation required contour and the internal contour detected by the pipeline.

[0117] The convex area is the area enclosed by the contour line at the position of the convex point and the contour line of the non-accumulation required contour. Refer to Figure 2 .

[0118] Refer to Figure 4 , the steps of creating a randomly movable coordinate origin within the area enclosed by the internal contour detected by the pipeline include:

[0119] Step S300: Connect any two contour points on the normal internal contour to determine the contour connection line segment, and define the point where the contour connection line segment intersects as the intersection point.

[0120] The contour connection line segment is the line segment formed by taking two contour points on the normal internal contour as endpoints, and the intersection point is the point where two intersecting contour connection line segments intersect.

[0121] Step S301: Count at each intersection point according to the definition of the intersection point to determine the intersection times.

[0122] The intersection times is the number of times the same intersection point is repeatedly defined, that is, the number of times different two contour connection line segments intersect at the same intersection point.

[0123] Step S302: Determine the intersection times with the largest value according to the sorting rule, define this intersection times as the upper limit times, and define the intersection point corresponding to the upper limit times as the theoretical center point.

[0124] The maximum number of intersections can be determined through the collation rule, and it is defined as the upper limit number of times to distinguish different numbers of intersections. At the same time, in the ellipse, the point with the most intersections is the center point of the ellipse. At this time, its intersection point can be defined as the theoretical center point for identification, which is convenient for subsequent analysis.

[0125] Step S303: With the theoretical center point as the center and a preset unit distance as the radius, a unit area is delimited, and the difference in the number of intersections between each intersection point and the upper limit number of times is calculated within the unit area to determine the difference number of times.

[0126] The unit distance is a fixed value distance set by the staff. Delimiting the unit area can delimit the area where the actual center point of the pipeline may appear. The difference number of times is the difference between the number of intersections of the intersection points within the unit area and the upper limit number of times, and this difference is an absolute value.

[0127] Step S304: The intersection points with the difference number of times less than the preset reasonable number of times are defined as valid points, and the valid area is determined according to each valid point, and a random coordinate origin is created within the valid area.

[0128] The reasonable number of times is the maximum difference number of times set by the staff when the difference between the recognized number of intersections and the upper limit number of times is not large. When the difference number of times is less than the reasonable number of times, it means that the corresponding intersection point may also be used as the center point of the current pipeline. At this time, it is defined as a valid point to distinguish different intersection points; the valid area is the outermost area enclosed by connecting each valid point. At this time, this valid area is the area where the actual center point of the pipeline may exist. At this time, creating the coordinate origin only within the valid area can reduce the amount of simulated pipeline contours to be produced, reduce the overall calculation amount, and improve the overall operation efficiency.

[0129] Refer to Figure 5 , after the number of intersections is determined, the pipeline deformation detection method further includes:

[0130] Step S400: Determine whether there are at least two intersection points with the same and maximum number of intersections.

[0131] The purpose of the determination is to find out whether only one intersection point can be determined as the theoretical center point.

[0132] Step S4001: If there are not at least two intersection points with the same and maximum number of intersections, the theoretical center point is determined according to the intersection points.

[0133] When there are not at least two intersection points with the same and maximum number of intersections, it means that only one intersection point can be determined as the theoretical center point. At this time, the theoretical center point can be determined normally.

[0134] Step S4002: If there are at least two intersection points with the same and maximum number of intersections, define such intersection points as alternative points, select any one of the alternative points as the simulation center point, and determine the unit area based on the simulation center point.

[0135] When there are at least two intersection points with the same and maximum number of intersections, it indicates that there are multiple intersection points that can serve as the theoretical center point. At this time, further screening is required; define alternative points to distinguish different intersection points. The simulation center point is one of the selected alternative points, and a corresponding unit area can be delimited with the simulation center point as the center and the unit distance as the radius.

[0136] Step S401: Count according to the alternative points within each unit area to determine the alternative quantity.

[0137] The alternative quantity is the total number of alternative points in the determined unit area, which can be obtained by counting the alternative points one by one.

[0138] Step S402: Determine the alternative quantity with the largest value according to the sorting rule, and determine the simulation center point corresponding to this alternative quantity as the theoretical center point.

[0139] The alternative quantity with the largest value can be determined through the sorting rule, that is, the unit area delimited at this time contains the most alternative points, which also means that this unit area is closest to the actual center position of the pipeline. At this time, the corresponding simulation center point is determined as the theoretical center point to facilitate the subsequent creation of the coordinate origin.

[0140] Refer to Figure 6 , after the alternative quantity is determined, the pipeline deformation detection method further includes:

[0141] Step S500: Determine whether there are at least two simulation center points with the same alternative quantity.

[0142] The purpose of the determination is to find out whether there are multiple simulation center points that meet the requirements.

[0143] Step S5001: If there are not at least two simulation center points with the same alternative quantity, determine the theoretical center point according to the simulation center point.

[0144] When there are not at least two simulation center points with the same alternative quantity, it means that there is only a unique simulation center point that meets the requirements. At this time, it can be determined as the theoretical center point.

[0145] Step S5002: If there are at least two simulation center points with the same alternative quantity, determine the alternative separation distance according to the simulation center points and the alternative points within the corresponding unit area.

[0146] When there are at least two simulated center points with the same alternative quantity, it indicates that there are multiple simulated center points meeting the requirements, and further screening is needed; the alternative separation distance is the straight-line distance between the simulated center point and the alternative points within the corresponding unit area.

[0147] Step S501: Calculate the mean value based on the alternative separation distance to determine the simulated mean distance.

[0148] The simulated mean distance is the average value of the alternative separation distances determined under a single simulated center point.

[0149] Step S502: Determine the simulated mean distance with the smallest value according to the sorting rule, and determine the theoretical center point based on the simulated center point corresponding to this simulated mean distance.

[0150] Through the sorting rule, the simulated mean distance with the smallest value can be determined, that is, the distances between the surrounding alternative points and the simulated center point are relatively close. At this time, the actual center position of the pipeline is more likely to be within the unit area formed by this simulated center point. Therefore, this simulated center point is determined as the theoretical center point; when there are still multiple simulated center points meeting the requirements, a simulated center point can be randomly selected as the theoretical center point for subsequent analysis.

[0151] Refer to Figure 7 , and it also includes the step of determining the randomly variable elliptical parameters, and this step includes:

[0152] Step S600: Obtain the contour separation distance of the contour-connected line segments.

[0153] The contour separation distance is the length value of the determined contour-connected line segments.

[0154] Step S601: Determine the two long-axis endpoints with the largest contour separation distance according to the sorting rule, define the two contour points of the contour-connected line segment perpendicular to the contour-connected line segment formed by the long-axis endpoints as the short-axis endpoints, and jointly define the short-axis endpoints and the long-axis endpoints as the limit endpoints.

[0155] In the theoretical case, the two endpoints of the long axis are the farthest apart in the ellipse. At this time, the two long-axis endpoints can be determined through the sorting rule. Similarly, according to the characteristic that the long axis and the short axis are perpendicular in the ellipse, the two short-axis endpoints can be determined, and the two are jointly defined as the limit endpoints for subsequent analysis and processing.

[0156] Step S602: Determine the point separation distance according to the limit endpoints and the convex points.

[0157] The point separation distance is the straight-line distance between the limit endpoints and the convex points.

[0158] Step S603: Define the extreme endpoints with a distance between points less than the preset adjacent distance as similar endpoints.

[0159] The adjacent distance is the maximum distance between points when it is determined that there are relatively close convex points around the extreme endpoints set by the staff. When there is a situation where the distance between points in the extreme endpoints is less than the adjacent distance, it indicates that the position of the extreme endpoint is relatively close to the convexity. At this time, the position of the convexity may be the position of the minor axis or the major axis. Therefore, the distance between the major axis endpoints or minor axis endpoints obtained at this time is inaccurate and needs further analysis. At this time, similar endpoints are defined for subsequent analysis.

[0160] Step S604: Count the similar endpoints among the minor axis endpoints and major axis endpoints respectively to determine the number of similarities.

[0161] The number of similarities is the number of similar endpoints determined as similar endpoints among two minor axis endpoints or two major axis endpoints. The number of similarities of the minor axis endpoints and major axis endpoints is determined separately.

[0162] Step S605: Confirm the correction distance corresponding to the number of similarities according to the preset correction matching relationship.

[0163] The correction distance is the distance value for correcting the distance between points when the major axis or minor axis may be in the convex position. Different numbers of similarities indicate different position situations at both ends. Therefore, the corresponding correction distances are also different. The correction matching relationship between the two is set by the staff according to the actual situation.

[0164] Step S606: Calculate the difference according to the contour separation distance of the minor axis endpoints and the corresponding correction distance to determine the lower limit value of the parameter, and calculate the sum according to the contour separation distance of the major axis endpoints and the corresponding correction distance to determine the upper limit value of the parameter.

[0165] The lower limit value of the parameter is the value obtained by subtracting the determined correction distance from the contour separation distance of the contour-connected line segment formed by two minor axis endpoints. The upper limit value of the parameter is the value obtained by adding the determined correction distance to the contour separation distance of the contour-connected line segment formed by two major axis endpoints.

[0166] Step S607: Determine the parameter change interval according to the lower limit value and upper limit value of the parameter, and determine the randomly variable ellipse parameters within the parameter change interval.

[0167] The parameter change interval is the interval with the lower limit value and upper limit value of the parameter as the two interval endpoints. By randomly selecting ellipse parameters in the parameter change interval, the number of ellipses to be generated can be reduced. Therefore, the overall calculation amount is reduced to improve the overall operation efficiency.

[0168] Refer to Figure 8, after the convex region is determined, the pipeline deformation detection method further includes:

[0169] Step S700: Define the midpoint of the set contour as the deepest concave point, and determine the distance between the concave points according to the deepest concave point and the contour points on the unstacked required contour.

[0170] The deepest concave point is the contour midpoint of a single set contour, that is, the most prominent position point among the identified convex points. The distance between the concave points is the straight-line distance between the deepest concave point and the contour points on the unstacked required contour.

[0171] Step S701: Determine the distance between the concave points with the smallest value according to the sorting rule, and define this distance between the concave points as the depression deformation depth.

[0172] Through the sorting rule, the distance between the concave points with the smallest value can be determined, that is, this distance between the concave points is the depth of the inward depression from the outside of this convex point. At this time, it is defined as the depression deformation depth for subsequent analysis.

[0173] Step S702: Determine the abnormal contour line according to the unstacked required contour and the convex region, and obtain the abnormal endpoint coordinates of the two endpoints of the abnormal contour line.

[0174] The abnormal contour line is the contour line on the unstacked required contour in the convex region. The abnormal endpoint coordinates are the coordinates of the two endpoints of the abnormal contour line relative to the coordinate origin.

[0175] Step S703: Determine the upper limit deformation depth corresponding to the unstacked required contour and the abnormal endpoint coordinates according to the preset depth matching relationship.

[0176] The upper limit deformation depth is the maximum deformation depth that can occur at the abnormal endpoint coordinates when the pipeline can be deformed into the shape of the stacked required contour. Different unstacked required contours and abnormal endpoint coordinates correspond to different deformation depths. The depth matching relationship among the three can be determined by the staff in advance through impact deformation simulation using MATLAB simulation software.

[0177] Step S704: Judge whether the depression deformation depth is greater than the upper limit deformation depth.

[0178] The purpose of the judgment is to know whether this convex position may be formed by an inward depression from the outside under the current pipeline contour.

[0179] Step S7041: If the depression deformation depth is not greater than the upper limit deformation depth, control the cleaning device to operate.

[0180] When the depression deformation depth is not greater than the upper limit deformation depth, it indicates that at this time, the convexity may be formed by the inward depression deformation of the pipeline outside. At this time, normally control the cleaning device to operate to analyze the convexity.

[0181] Step S7042: If the depth of the concave deformation is greater than the upper limit of the deformation depth, then the convex area is removed to modify the inner contour of the pipeline detection.

[0182] When the depth of the concave deformation is greater than the upper limit of the deformation depth, it indicates that the convexity at this position under the current pipeline contour cannot be caused by an external inward concavity. Therefore, this convexity is formed by the accumulation of debris inside the pipeline. At this time, the convex area is removed and filled with the contour without the accumulation requirement to modify the inner contour of the pipeline detection, so that it is not necessary for each convex position to be operated by a cleaning device, improving the overall detection efficiency.

[0183] Refer to Figure 9 , based on the same inventive concept, an embodiment of the present invention provides a pipeline deformation detection system, including:

[0184] An acquisition module, configured to acquire the inner contour of the pipeline detection of the pipeline;

[0185] A processing module, connected to the acquisition module and the judgment module, configured to store and process information;

[0186] A judgment module, connected to the acquisition module and the processing module, configured to judge information;

[0187] The processing module creates a randomly movable detection point on the inner contour of the pipeline detection, and determines an adjacent point on the inner contour of the pipeline detection that is separated from the detection point by a preset fixed distance;

[0188] The processing module establishes a detection ray passing through the adjacent point with the detection point as the starting point, and determines the detection angle bisector according to the two detection rays;

[0189] The processing module defines the detection point when the detection angle bisector intersects the inner contour of the pipeline detection only at the detection point as a convex point, and determines the convex area according to each convex point;

[0190] The processing module controls a preset cleaning device to move to the convex area for operation and enables the acquisition module to acquire the foreign object cleaning resistance in real time;

[0191] The judgment module judges whether the foreign object cleaning resistance is greater than a preset upper limit resistance;

[0192] If the judgment module judges that the foreign object cleaning resistance is greater than the upper limit resistance, the processing module controls the cleaning device to stop operating and acquires the inner contour of the pipeline detection again to upload the inner contour of the pipeline detection to a preset information collection center;

[0193] If the judgment module determines that the foreign object cleaning resistance is not greater than the upper limit resistance, the processing module controls the cleaning device to continue operating, and after completely passing through the convex area, the inner contour of the pipeline detection is obtained again and uploaded to the information collection center;

[0194] The convex area determination module determines the convex area according to the overall situation of the pipeline;

[0195] The coordinate origin creation module delimits the possible area of the coordinate origin according to the overall situation of the pipeline, so as to facilitate the creation of the coordinate origin and improve the overall operation efficiency;

[0196] The intersection point screening module is used to determine a unique intersection point as the theoretical center point among multiple intersection points that meet the requirements;

[0197] The simulated center point screening module is used to determine a unique simulated center point as the theoretical center point among multiple simulated center points that meet the requirements;

[0198] The ellipse parameter determination module limits the production range of the ellipse parameters according to the current overall situation of the pipeline, so as to improve the overall operation efficiency;

[0199] The convex point abnormal elimination module eliminates the convex points that cannot be formed by the pipeline deformation.

[0200] Those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional module is used as an example. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-described system, device, and unit can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

Claims

1. A pipeline deformation detection method, characterized in that: include: Obtain the pipeline detection inner contour of the pipeline; Creating a randomly movable detection point on the inner contour of the pipeline detection, and determining adjacent points on the inner contour of the pipeline detection that are separated from the detection point by a preset fixed distance, wherein there is one adjacent point on each side of the detection point; A detection ray is established with the detection point as the starting point and passes through the adjacent points, and the detection angle bisector is determined based on the two detection rays; The detection point where the detection angle bisector intersects the pipeline detection inner contour only at the detection point is defined as a convex point, and the convex area is determined according to each convex point; Control the preset cleaning device to move to the raised area for operation and obtain the foreign matter cleaning resistance in real time; Determine whether the resistance to foreign body cleaning is greater than the preset upper limit resistance; If the foreign matter cleaning resistance is greater than the upper limit resistance, the cleaning device is controlled to stop working and the pipeline detection inner contour is obtained again to upload the pipeline detection inner contour to a preset information collection center; If the foreign body cleaning resistance is not greater than the upper limit resistance, the cleaning device is controlled to continue operating, and after completely passing through the raised area, the pipeline detection inner contour is obtained again to upload the pipeline detection inner contour to the information collection center.

2. The pipeline deformation detection method according to claim 1, characterized in that: The step of determining the raised area according to each raised point comprises: Get the convex distance between adjacent convex points; The convex points whose convex distance is less than the preset adjacent required distance are summarized into the same preset initially empty convex summary set; Determine the collective contour according to the convex points in the same convex induction set, and define the part of the pipeline detection inner contour that is not the collective contour as a normal inner contour; A randomly movable coordinate origin is created in the area enclosed by the inner contour of the pipeline detection, and a simulated pipeline contour is established based on the coordinate origin and randomly variable ellipse parameters; Determine the contour overlap ratio based on the simulated pipeline contour and the normal internal contour; Determine the contour overlap ratio with the largest value according to a preset sorting rule, and determine the simulated pipeline contour corresponding to the contour overlap ratio as the unstacked demand contour; The raised area is determined based on the unstacked required contour and the inner contour of the pipeline inspection.

3. The pipeline deformation detection method according to claim 2, characterized in that: The steps of creating a randomly movable coordinate origin in the area enclosed by the inner contour of the pipeline inspection include: Connect any two contour points on the normal internal contour to determine the contour connected line segment, and define the point where the contour connected line segments intersect as the intersection point; Counting is performed at each intersection point according to the definition of the intersection point to determine the number of intersections; Determine the maximum number of intersections according to the sorting rule, define the number of intersections as the upper limit number, and define the intersection point corresponding to the upper limit number as the theoretical center point; A unit area is defined with the theoretical center point as the center of the circle and the preset unit distance as the radius, and the difference number is determined by performing a difference calculation based on the number of intersections of each intersection point and the upper limit number in the unit area; The intersection points whose difference times are less than a preset reasonable times are defined as valid points, and a valid area is determined according to each valid point, and a random coordinate origin is created within the valid area.

4. The pipeline deformation detection method according to claim 3, characterized in that: After the number of intersections is determined, the pipeline deformation detection method further includes: Determine whether there are at least two intersection points with the same and maximum number of intersections; If there are not at least two intersection points with the same and maximum number of intersections, the theoretical center point is determined based on the intersection points; If there are at least two intersection points with the same and maximum number of intersections, the intersection points are defined as candidate points, and any candidate point is determined as the simulation center point, and the unit area is determined according to the simulation center point; Counting is performed at the candidate points in each unit area to determine the number of candidates; The candidate number with the largest value is determined according to the sorting rule, and the simulation center point corresponding to the candidate number is determined as the theoretical center point.

5. The pipeline deformation detection method according to claim 4, characterized in that: After the number of alternatives is determined, the pipeline deformation detection method also includes: Determine whether there are at least two simulation center points with the same number of alternatives; If there are not at least two simulation center points with the same number of candidates, the theoretical center point is determined based on the simulation center point; If there are at least two simulation center points with the same number of candidates, the distance between the candidates is determined based on the simulation center point and the candidate points in the corresponding unit area; Perform mean calculation based on alternative separation distances to determine simulated mean distances; The simulated mean distance with the smallest value is determined according to the sorting rules, and the theoretical center point is determined according to the simulated center point corresponding to the simulated mean distance.

6. The pipeline deformation detection method according to claim 3, characterized in that: Also included is the step of determining randomly variable ellipse parameters, the step comprising: Get the distance between the contours of the connected line segments; According to the sorting rule, the two contour points with the largest distance between them are determined as the major axis endpoints, and the two contour points of the contour connected line segments perpendicular to the contour connected line segments formed by the major axis endpoints are defined as the minor axis endpoints, and the minor axis endpoints and the major axis endpoints are defined together as the limit endpoints; Determine the distance between points based on the limit endpoints and convex points; The extreme endpoints where the distance between points is less than the preset proximity distance are defined as similar endpoints; Counting similar endpoints at the minor axis endpoints and the major axis endpoints to determine the number of similarities; According to the preset correction matching relationship, the correction distance corresponding to the similar quantity is confirmed; The difference calculation is performed based on the contour distance between the minor axis endpoints and the corresponding correction distance to determine the lower limit value of the parameter, and the sum calculation is performed based on the contour distance between the major axis endpoints and the corresponding correction distance to determine the upper limit value of the parameter; The parameter variation interval is determined according to the parameter lower limit value and the parameter upper limit value, and the randomly variable ellipse parameters are determined within the parameter variation interval.

7. The pipeline deformation detection method according to claim 2, characterized in that: After the raised area is determined, the pipeline deformation detection method further includes: The midpoint of the set contour is defined as the most concave point, and the distance between the concave points is determined based on the most concave point and the contour points on the unstacked required contour; Determine the distance between the concave points with the smallest value according to the sorting rule, and define the distance between the concave points as the concave deformation depth; Determine an abnormal contour line according to the unstacked demand contour and the convex area, and obtain abnormal endpoint coordinates of two endpoints of the abnormal contour line; Determine the upper limit deformation depth corresponding to the unstacked required contour and the abnormal endpoint coordinates according to the preset depth matching relationship; Determine whether the concave deformation depth is greater than the upper limit deformation depth; If the depression deformation depth is not greater than the upper limit deformation depth, the cleaning device is controlled to operate; If the concave deformation depth is greater than the upper limit deformation depth, the convex area is removed to modify the inner contour of the pipeline inspection.

8. A pipeline deformation detection system, characterized in that: include: An acquisition module, used for acquiring the pipeline detection inner contour of the pipeline; A processing module, connected to the acquisition module and the judgment module, for storing and processing information; A judgment module, connected with the acquisition module and the processing module, for judging the information; The processing module creates a randomly movable detection point on the inner contour of the pipeline detection, and determines adjacent points on the inner contour of the pipeline detection that are separated from the detection point by a preset fixed distance, wherein there is one adjacent point on each side of the detection point; The processing module establishes a detection ray that passes through adjacent points with the detection point as the starting point, and determines the detection angle bisector according to the two detection rays; The processing module defines the detection point when the detection angle bisector intersects the pipeline detection inner contour only at the detection point as a convex point, and determines the convex area according to each convex point; The processing module controls the preset cleaning device to move to the raised area for operation and enables the acquisition module to acquire the foreign matter cleaning resistance in real time; The judging module judges whether the foreign matter cleaning resistance is greater than a preset upper limit resistance; If the judging module judges that the foreign matter cleaning resistance is greater than the upper limit resistance, the processing module controls the cleaning device to stop working and obtain the pipeline detection inner contour again to upload the pipeline detection inner contour to the preset information collection center; If the judgment module determines that the foreign body cleaning resistance is not greater than the upper limit resistance, the processing module controls the cleaning device to continue operating, and obtains the pipeline detection inner contour again after completely passing through the raised area to upload the pipeline detection inner contour to the information collection center.

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