Remote control method and system for underground pipeline robot

Abstract

The invention relates to the technical field of robot control, in particular to a remote control method and system for an underground pipeline robot, and the method comprises the following steps: obtaining a to-be-detected gas pipeline, dividing the gas pipeline into a plurality of initial detection regions, and distributing a pipeline robot for each initial detection region; planning a preliminary detection path of each pipeline robot in the preliminary detection area, and formulating motion information of the pipeline robot based on the preliminary detection path; constructing a communication link between the pipeline robot and a remote control end, transmitting pipeline internal data to the remote control end based on the communication link, and setting a database at the remote control end; the control instruction is sent to each pipeline robot according to the motion information, the pipeline robots execute the control instruction corresponding to the motion information in the gas pipeline, and accurate control over the underground pipeline robots can be achieved through the efficient remote control technology so that the efficiency and safety of pipeline detection and maintenance can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robot control, and specifically to a remote control method and system for an underground pipeline robot. Background Art

[0002] With the acceleration of the urbanization process, the underground pipeline network is becoming increasingly complex and large-scale, and its safe operation is crucial for the stability of urban infrastructure. However, the underground pipelines are buried underground for a long time and are affected by various factors such as soil corrosion, external force damage, and aging, and are prone to problems such as leakage, blockage, and rupture, seriously affecting urban safety and residents' lives. Therefore, it is necessary to control the underground pipeline robot to conduct regular inspections and maintenance on the underground pipelines to detect and handle potential problems in a timely manner.

[0003] In the aspect of remote control of existing underground pipeline robots, it is difficult to accurately remotely control the underground pipeline robots according to flexible detection paths during use, thus affecting the control effect of the pipeline robots, and further affecting the detection effect of gas pipelines.

[0004] For this reason, we propose a remote control method and system for an underground pipeline robot to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a remote control method and system for an underground pipeline robot to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solutions: A remote control method and system for an underground pipeline robot, the method includes the following steps: Obtain the gas pipeline to be detected and divide it into multiple initially divided detection areas, and allocate pipeline robots to each initially divided detection area; Plan the preliminary detection paths of each pipeline robot in the initially divided detection area, formulate the motion information of the pipeline robot based on the preliminary detection paths; collect the internal pipeline data of the initially divided detection area based on the motion information; Build a communication link between the pipeline robot and the remote control terminal, transmit the internal pipeline data to the remote control terminal based on the communication link, and set up a database at the remote control terminal; Determine and mark the abnormal state of the pipeline based on the internal pipeline data and the internal pipeline environment data, where the abnormal state of the pipeline is divided into an obstacle state and a pipeline defect state; take the position corresponding to the obstacle state as an obstacle point; Based on the position information of the obstacle point, re-divide the initially divided detection area to obtain a re-divided detection area; re-plan the detection path of the re-divided detection area to form a target detection path; formulate the motion information of each pipeline robot inside the gas pipeline based on the target detection path; Send control instructions to each pipeline robot according to the motion information, and the pipeline robot executes the control instructions corresponding to the motion information in the gas pipeline.

[0007] Preferably, the step of obtaining the gas pipeline to be detected and dividing it into multiple preliminary detection areas includes: Obtain the layout model of the gas pipeline to be detected, identify and mark the pipeline corner points and end points in the layout model to obtain feature points; Based on the feature points, divide the gas pipeline into multiple preliminary detection areas.

[0008] Preferably, the step of planning the preliminary detection paths of each pipeline robot in the preliminary detection area and formulating the motion information of the pipeline robot based on the preliminary detection paths includes: Determine the starting point and ending point of the pipeline robot according to the preliminary detection area, generate multiple path points between the starting point and the ending point. Among them, each feature point corresponds to a path point, and multiple path points are set between two feature points; Generate preliminary detection paths corresponding to the path points, and determine the motion direction of the pipeline robot at each path point based on the preliminary detection paths; Obtain the traveling speed of the pipeline robot and the acquisition range of the acquisition point, and determine the acquisition frequency of the acquisition point based on the acquisition range of the acquisition point and the traveling speed; Take the motion direction and the acquisition frequency as the motion information corresponding to the pipeline robot.

[0009] Preferably, the step of collecting the internal data of the pipeline in the preliminary detection area based on the motion information includes: Based on the motion direction in the motion information, obtain the positions passed by the pipeline robot in the pipeline in the preliminary detection area, and delimit the positions passed by the pipeline robot to obtain the image acquisition range; Perform range division in the image acquisition range to obtain multiple unit intervals, and the multiple unit intervals are arranged in sequence; Use the camera configured on the pipeline robot as the acquisition point in the multiple unit intervals, set the capture points in the unit intervals corresponding to the acquisition points, and bind the capture points to the corresponding acquisition points; Connect the positions where the acquisition points collect the internal data of the pipeline to obtain the acquisition chain, and the acquisition points collect the images of the internal part of the pipeline at the positions where the pipeline robot is located; Correspond the images of the internal part of the pipeline with the corresponding acquisition chain to obtain the internal data of the pipeline. Among them, the internal data of the pipeline includes multiple images of the internal part of the pipeline corresponding to the acquisition points.

[0010] Preferably, the step of setting up a database at the remote control end includes: Obtain the acquisition points corresponding to the internal data of the pipeline transmitted to the remote control terminal; Based on the acquisition points, determine the unit intervals corresponding to the internal data of the pipeline, and preset the internal environment information of the pipeline for the corresponding unit intervals; Store the internal data of the pipeline and the internal environment information of the pipeline in the database.

[0011] Preferably, the step of determining and marking the abnormal state of the pipeline based on the internal data of the pipeline and the internal environment data of the pipeline includes: Obtain the internal data of the pipeline and the internal environment information, and compare the internal data of the pipeline with the internal environment information; Extract the image parts different from the internal environment information of the pipeline through the capture points, connect the adjacent capture points, and perform image enhancement on the contour of the image part enclosed by connecting the adjacent capture points to obtain the target image; Construct a three-dimensional model of the target image based on the target image, and determine the target object corresponding to the target image based on the three-dimensional model; Evaluate the fitting ratio of the target object to the inner wall of the pipeline; Take the target object corresponding to the fitting ratio exceeding the preset conditions as the preselected abnormal state, determine the obstacle state based on the preselected abnormal state and mark it; Take the target object corresponding to the fitting ratio not exceeding the preset conditions as the pipeline defect state and mark it.

[0012] Preferably, the step of determining and marking the obstacle state based on the preselected abnormal state includes: Obtain the pipeline information of the gas pipeline in the preliminary detection area, and calculate the cross-sectional area of the gas pipeline based on the pipeline information; Extract the contour of the target object in the three-dimensional model of the target image to obtain the target object contour, and evaluate the occupancy ratio of the target object contour occupying the cross-sectional area; Take the target contour corresponding to the occupancy ratio exceeding the preset conditions as the obstacle contour, take the preselected abnormal state in the target image corresponding to the obstacle contour as the obstacle state, and mark the obstacle state; Take the target object contour corresponding to the occupancy ratio not exceeding the preset conditions as the marked contour, take the preselected abnormal state in the target image corresponding to the marked contour as the pipeline defect state, and mark the pipeline defect state.

[0013] Preferably, the step of re-dividing the preliminary detection area based on the position information of the obstacle points to obtain the re-detection area includes: Determine the preliminary detection area where the position information of the obstacle points is located as the first preliminary detection area, and take the pipeline robot in the first preliminary detection area as the first robot; Obtain other initial division detection areas adjacent to the first initial division detection area as the second initial division detection area, and use the pipeline robot in the second initial division detection area as the second pipeline robot; Integrate the first initial division detection area and multiple second initial division detection areas into one detection area, and use the position of the obstacle point as the feature point; Count the number of the first robot and the second robot to obtain the number of robots; Based on the feature point, re-divide the detection area into areas with the same number as the number of robots to obtain multiple re-divided detection areas with the same number as the number of robots.

[0014] A remote control system for an underground pipeline robot, which is applied to the remote control method described in any one of the above, and includes: An area division module, configured to obtain the gas pipeline to be detected and divide it into multiple initial division detection areas, and allocate pipeline robots to each initial division detection area; An information formulation module, configured to plan the preliminary detection paths of each pipeline robot in the initial division detection area, formulate the motion information of the pipeline robot based on the preliminary detection paths; collect the internal data of the pipeline in the initial division detection area based on the motion information; A database construction module, configured to construct a communication link between the pipeline robot and the remote control terminal, transmit the internal data of the pipeline to the remote control terminal based on the communication link, and set up a database at the remote control terminal; A marking module, configured to determine and mark the abnormal state of the pipeline based on the internal data of the pipeline and the internal environment data of the pipeline, wherein the abnormal state of the pipeline is divided into an obstacle state and a pipeline defect state; use the position corresponding to the obstacle state as the obstacle point; An information update module, configured to re-divide the initial division detection area based on the position information of the obstacle point to obtain a re-divided detection area; re-plan the detection path of the re-divided detection area to form a target detection path; formulate the motion information of each pipeline robot inside the gas pipeline based on the target detection path; A robot control module, which sends control commands to each pipeline robot according to the motion information, and the pipeline robot executes the control commands of the corresponding motion information inside the gas pipeline.

[0015] Compared with the prior art, the beneficial effects of the present invention are: By dividing the gas pipeline to be detected into multiple initial division detection areas and allocating pipeline robots to each area, multi-region parallel detection is realized, avoiding the time waste of the traditional single detection method, greatly improving the overall detection efficiency, and shortening the detection cycle; Plan the preliminary detection paths of each pipeline robot within the preliminary detection area, re-divide the detection area based on the obstacle point location information, plan the target detection paths, and control the pipeline robot to perform detections according to the optimal paths, reducing unnecessary trips and further improving the detection efficiency; Send control commands to each pipeline robot according to the motion information. The pipeline robot can accurately execute the control commands corresponding to the motion information within the gas pipeline, achieving precise control of the detection process, improving the flexibility and operability of the detection method; realizing precise control of the underground pipeline robot to improve the efficiency and safety of pipeline detection and maintenance. Description of the Drawings

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a schematic flowchart of the method of the present invention; Figure 2 It is a block diagram of the system structure of the present invention. Detailed Embodiments

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0019] Embodiment. Please refer to Figures 1 to 2 , the present invention provides a technical solution for a remote control method and system for an underground pipeline robot: a remote control method for an underground pipeline robot, including the following steps: S1: Obtain the gas pipeline to be detected and divide it into multiple preliminary detection areas, and allocate pipeline robots to each preliminary detection area; The steps of obtaining the gas pipeline to be detected and dividing it into multiple preliminary detection areas include: Obtain the layout model of the gas pipeline to be detected, identify and mark the pipeline corner points and end points in the layout model to obtain feature points; Based on the feature points, divide the gas pipeline into multiple preliminary detection areas; It should be noted that the endpoints include the endpoints at both ends of the gas pipeline, that is, the starting point and the ending point of the pipeline. The corner points include the points where the pipeline direction changes. In the digital pipeline layout model, all identified feature points are accurately marked, and detailed information such as the position, type, pipe diameter, and angle of each feature point is recorded to provide a basis for subsequent area division. During area division, feature points with the shortest distance between the starting point and the ending point of the pipeline robot within the same communication network coverage range can be divided into an initial detection area, reducing the duplicate pipelines detected by the pipeline robot and improving the detection efficiency of the pipeline; Obtain the specific content of the gas pipeline layout model to be detected, and use measuring tools (such as laser rangefinders, total stations, etc.) to conduct on-site measurements of the pipeline to obtain accurate pipeline positions and dimensions. During on-site exploration, mark the feature points of the pipeline (such as turning points, turning-around points, valves, tees, etc.). Use CAD software or GIS systems to integrate the collected data into a digital pipeline layout model; Specifically, first obtain the detailed layout diagram of the gas pipeline, including pipeline orientation, branches, connection points, etc., and obtain parameters such as the diameter, material, service life, and historical maintenance records of the pipeline; during area division, try to ensure that the lengths and complexities of each initial detection area are similar to facilitate the balanced allocation of detection tasks for each pipeline robot; according to the entry and exit paths of the pipeline robot, ensure that each initial detection area can be effectively monitored. According to the historical fault records of the pipeline and environmental factors, the areas can be divided into risk levels. High-risk areas can be divided smaller, and low-risk areas can be divided larger, but it is necessary to ensure that the communication corresponding to the pipeline robot in the initial detection area can completely cover the corresponding initial detection area; according to the orientation and branches of the pipeline, divide the pipeline into multiple continuous or independent areas, divide the gas pipeline into multiple initial detection areas, and each area has clear boundaries and detection requirements; this can improve the comprehensiveness and detection efficiency of gas pipeline detection; S2: Plan the preliminary detection paths of each pipeline robot within the initial detection area, formulate the motion information of the pipeline robot based on the preliminary detection paths; collect the internal data of the pipeline in the initial detection area based on the motion information, where the motion information includes the motion direction and the acquisition frequency; The steps of planning the preliminary detection paths of each pipeline robot within the initial detection area and formulating the motion information of the pipeline robot based on the preliminary detection paths include: Determine the starting point and the ending point of the pipeline robot according to the initial detection area, generate multiple path points between the starting point and the ending point, where each feature point corresponds to a path point, and multiple path points are set between two feature points; Generate a preliminary detection path corresponding to the path points, and determine the motion direction of the pipeline robot at each path point based on the preliminary detection path; Obtain the traveling speed of the pipeline robot and the acquisition range of the acquisition point, and determine the acquisition frequency of the acquisition point based on the acquisition range and the traveling speed of the acquisition point; Take the movement direction and the acquisition frequency as the movement information corresponding to the pipeline robot; Specifically, the movement direction can be straight line, turning, etc., which specifically depends on the position of the path point and the layout of the pipeline; the traveling speed of the pipeline robot can be set by the staff according to their needs. The acquisition point comes from the camera configured for the pipeline robot. Taking the camera as the acquisition point, determine the acquisition frequency according to the traveling speed and the acquisition range of the pipeline robot. This acquisition frequency can ensure that the image information inside the pipeline continuously captured within a certain interval time can completely cover the internal environment of the pipeline when the pipeline robot walks in the movement direction; The steps of collecting the internal data of the pipeline in the preliminary classification detection area based on the movement information include: Obtain the positions passed by the pipeline robot in the pipeline in the preliminary classification detection area based on the movement direction in the movement information, and delimit the positions passed by the pipeline robot to obtain the image acquisition range; Conduct range division in the image acquisition range to obtain multiple unit intervals, and the multiple unit intervals are arranged in sequence; Take the camera configured for the pipeline robot as the acquisition point in the multiple unit intervals, set the capture points in the unit intervals for the corresponding acquisition points, and bind the capture points to the corresponding acquisition points; Connect the positions where the acquisition points collect the internal data of the pipeline to obtain the acquisition chain, and the corresponding acquisition points collect the images of the internal pipeline at the positions where the pipeline robot is located; Correspond the images inside the pipeline with the corresponding acquisition chain to obtain the internal data of the pipeline. Among them, the internal data of the pipeline includes multiple images of the internal pipeline corresponding to the acquisition points; It should be noted that delimiting the positions passed by the pipeline robot to obtain the image acquisition range. Among them, delimiting the positions passed by the pipeline robot means delimiting the inside of the pipeline, delimiting according to the length of the pipeline, and dividing the preliminary detection path passed by the pipeline robot into unit intervals. For example, dividing a pipeline into several small segments according to the preliminary detection path, and each small segment is used as an image acquisition range; Specifically, the camera configured on the pipeline robot is used as the acquisition point in multiple unit intervals, which is equivalent to setting corresponding acquisition points in multiple unit intervals. Since the pipeline robot is mobile and the camera configured on the pipeline robot is also mobile, using the camera as the acquisition point can make the acquisition point mobile as well. When the pipeline robot is in the corresponding unit interval, the acquisition point is in the same unit interval as the pipeline robot. The internal information of the pipeline in the unit interval passed by the pipeline robot can be collected at any time through the camera according to the movement of the pipeline robot, and the collected information is taken as pictures and transmitted to the remote control terminal. Each position of the pipeline robot is uniquely marked, and the acquisition points corresponding to the marked positions are connected to form an acquisition chain. After collecting the internal image of the pipeline, it is bound to the position where the pipeline robot is located, that is, bound to the position where the acquisition point is located, so as to ensure that the internal image of the pipeline can correspond to the position of the acquisition point, which is convenient for subsequent judgment of the position of the pipeline robot inside the pipeline, and convenient for comparing the internal image of the pipeline with the preset internal environment information of the pipeline at the corresponding position, so as to further detect the inside of the pipeline for pipeline maintenance; S3: Establish a communication link between the pipeline robot and the remote control terminal, and transmit the internal pipeline data to the remote control terminal based on the communication link. Set up a database at the remote control terminal, where the database includes the preset internal pipeline environment data corresponding to each pipeline and the internal pipeline data received by the remote control terminal; The steps of setting up a database at the remote control terminal, where the database includes the preset internal pipeline environment data corresponding to each pipeline and the internal pipeline data received by the remote control terminal, include: Obtain the acquisition points corresponding to the internal pipeline data transmitted to the remote control terminal; Determine the unit interval corresponding to the internal pipeline data based on the acquisition points, and preset the internal pipeline environment information for the corresponding unit interval; Store the internal pipeline data and the internal pipeline environment information in the database; Specifically, the initial detection area is divided into unit intervals, and the internal environment data of the pipeline is preset corresponding to the positions of the acquisition points. The positions of the acquisition points are determined according to the pipeline robot. The acquisition points are configured on the pipeline robot. The acquisition points are related to the acquisition frequency in the motion information. The acquisition frequency is related to the acquisition range. For example, when the internal pipeline image captured can be taken two meters away from the first acquisition point, the next acquisition point is set at a position two meters away from the first acquisition point. In this way, when the next internal pipeline image is stitched with the internal pipeline image captured by the previous acquisition point, it can completely cover the actual internal environment content of the pipeline. The acquisition frequency is jointly determined according to the moving speed of the pipeline robot and the acquisition range. For example, when the acquisition range is 3 meters and the moving speed of the pipeline robot is 18 meters per minute, at this time, the corresponding acquisition frequency is once every 10 seconds. By presetting the internal environment information of the pipeline corresponding to each unit interval through the corresponding acquisition points and storing it together with the internal pipeline data received by the remote control end in the database, it is convenient to detect the internal pipeline data subsequently and judge whether there is an abnormal state of the pipeline. S4: Determine and mark the abnormal state of the pipeline based on the internal pipeline data and the internal environment data of the pipeline. Among them, the abnormal state of the pipeline is divided into an obstacle state and a pipeline defect state; the position corresponding to the obstacle state is used as an obstacle point. The step of determining and marking the abnormal state of the pipeline based on the internal pipeline data and the internal environment data of the pipeline includes: Obtain the internal pipeline data and the internal environment information of the pipeline, and compare the internal pipeline data with the internal environment information of the pipeline. Extract the image parts different from the internal environment information of the pipeline through the grabbing points, connect the adjacent grabbing points, and perform image enhancement on the contour of the image part surrounded by the adjacent grabbing points to obtain the target image. Construct a three-dimensional model of the target image based on the target image, and determine the target object corresponding to the target image based on the three-dimensional model. Evaluate the fitting ratio of the target object to the inner wall of the pipeline. Take the target object corresponding to the fitting ratio exceeding the preset condition as a preselected abnormal state, and determine and mark the obstacle state based on the preselected abnormal state. Take the target object corresponding to the fitting ratio not exceeding the preset condition as the pipeline defect state and mark it. It should be noted that the specific content of constructing a three-dimensional model of the target image based on the target image is as follows: When a target image is found during comparison, the camera configured on the pipeline robot is activated to collect the image information of the target object corresponding to the target image from multiple angles to obtain more image information of the target object. The collected picture information is preprocessed, including denoising, enhancing contrast, adjusting color balance, etc. to improve the image quality. Image correction techniques (such as perspective correction) are used to reduce the distortion caused by the shooting angle, and key feature points are extracted from each picture. The feature points can reflect the shape and edge information of the target object. The feature points in different pictures are matched to establish the corresponding relationship between each feature point. Feature descriptors can be used to improve the matching efficiency, or camera calibration can be performed to obtain the internal and external parameters of the camera. The three-dimensional model of the target object corresponding to the target image is reconstructed from multiple pictures. According to the matched feature points and (or) the three-dimensional model, the shape of the target object is determined. If the calibration parameters of the camera are known, the size of the target object can be determined by calculating the coordinates of the feature points in the real world. Otherwise, relative size estimation methods can be used to estimate the actual size of the target object by comparing the sizes of the target object in different pictures. In some cases, the imaging of a reference object with a known size (such as a ruler, a coin, etc.) in the picture can be used to calibrate the size estimation, so as to determine the specific information of the target object from the corresponding three-dimensional model, such as the shape and size of the target object; The specific content of evaluating the fitting ratio of the target object to the inner wall of the pipeline and taking the target object corresponding to the fitting ratio exceeding the preset condition as a preselected abnormal state is as follows: The shape, size and other information of the target object are determined according to the three-dimensional model. The fitting ratio of the target object to the inside of the pipeline is evaluated according to the shape and size information of the target object. The corresponding calculation formula is: fitting ratio = fitting area / total surface area of the target object (or area of the relevant area of the inner wall of the pipeline) × 100%. The fitting area is calculated through the shape and size of the target object in the three-dimensional model. For example, if the fitting area is a square, the edge length of the target object occupying the inner wall of the pipeline is collected, and then the area of the fitting area can be calculated. Then, the total surface area of the target object is calculated according to the shape of the target object. For example, if the target object is a cube, the corresponding surface area calculation formula is where S is the surface area of the cube and a is the edge length of the target object. Through the fitting ratio calculation formula, the fitting ratio can be obtained. A threshold value of the fitting ratio can be set as a preset condition according to actual needs. It can be set that the fitting ratio must be greater than a certain value (such as 50%) to consider that the target object does not fit the inner wall of the pipeline. When the fitting ratio does not exceed this value, it means that the target object is in a preselected abnormal state, that is, it may be an obstacle. When it exceeds this value, it means that the target object is integrated with the pipeline and belongs to a defect of the pipeline itself, that is, a defect inside the pipeline; The steps of determining the obstacle state based on the preselected abnormal state and making a mark include: Obtain the pipeline information of the gas pipeline in the initial segmentation detection area, and calculate the cross-sectional area of the gas pipeline based on the pipeline information; Extract the contour of the target object in the three-dimensional model of the target image to obtain the target object contour, and evaluate the occupancy ratio of the target object contour occupying the cross-sectional area; Take the target contour corresponding to the occupancy ratio exceeding the preset condition as the obstacle contour, take the preselected abnormal state in the target image corresponding to the obstacle contour as the obstacle state, and mark the obstacle state; Take the target object contour corresponding to the occupancy ratio not exceeding the preset condition as the marked contour, take the preselected abnormal state in the target image corresponding to the marked contour as the pipeline defect state, and mark the pipeline defect state; It should be noted that the specific content of obtaining the pipeline information of the gas pipeline in the initial segmentation detection area and calculating the cross-sectional area of the gas pipeline based on the pipeline information is that different calculation methods of the cross-sectional area are adopted according to different gas pipelines. For example, when it is a circular pipeline, the pipeline information obtained is the diameter of the pipeline. According to the diameter of the pipeline, the area calculation formula used is to calculate the cross-sectional area of the pipeline, is the cross-sectional area of the pipeline, is the radius of the circle, is the pi; when the gas pipeline is a rectangular pipeline, the cross-section of the pipeline is a rectangle at this time, and the corresponding pipeline information is the length and width of the inner cross-section of the pipeline. The formula corresponding to the cross-sectional area is the product of the length and the width; Take the target object contour corresponding to the occupancy ratio not exceeding the preset condition as the marked contour. Among them, the preset condition refers to the preset threshold corresponding to the occupancy ratio. When the occupancy ratio does not exceed this preset threshold, the target object contour corresponding to the occupancy ratio is marked, indicating that the target object corresponding to the target object contour does not meet the condition of the obstacle state. The occupancy ratio here can be set according to whether the pipeline robot can move forward normally. When the pipeline robot can move forward and cross it normally, it means that it does not belong to the obstacle state. Otherwise, it belongs to the obstacle state. However, the target object that does not belong to the obstacle state is still marked and regarded as a type of pipeline defect state. The pipeline defect state can include blockage, crack, etc.; Specifically, extract the contour of the target object in the three-dimensional model of the target image to obtain the target object contour. Here, the target object contour refers to the contour of the three-dimensional model extracted at the same angle as the internal environment information of the collected pipeline. And when extracting the target contour, the ratio of the target object in the three-dimensional model to the target object inside the pipeline is one to one, so as to effectively ensure that the extracted contour can correspond to the inside of the pipeline one to one, and be used to ensure the accuracy of further evaluating the occupancy ratio in the follow-up; Specific content for evaluating the occupancy ratio of the target object contour occupying the cross-sectional area: Use the traveling direction of the pipeline robot as the acquisition angle of the acquisition point, and collect the target object contour area and the cross-sectional area of the pipeline according to the acquisition angle, and calculate the ratio of the target object contour area occupying the pipeline cross-sectional area. The corresponding calculation formula is , where represents the target object contour area, that is, the area of the projection of the target object on the pipeline cross-section, represents the pipeline cross-sectional area, represents the ratio of the target object contour area occupying the pipeline cross-sectional area. By restricting the acquisition angle, it can better ensure that the target object contour area and the pipeline cross-sectional area are collected from the same angle, thereby improving the accuracy when evaluating the occupancy ratio; S5: Based on the position information of the obstacle points, re-divide the initially divided detection area to obtain a re-divided detection area; re-plan the detection path of the re-divided detection area to form a target detection path; formulate the movement information of each pipeline robot inside the gas pipeline based on the target detection path; The steps of re-dividing the initially divided detection area based on the position information of the obstacle points to obtain a re-divided detection area include: Determine the initially divided detection area where the position information of the obstacle points is located as the first initially divided detection area, and regard the pipeline robot in the first initially divided detection area as the first robot; Obtain other initially divided detection areas adjacent to the first initially divided detection area as the second initially divided detection areas, and regard the pipeline robots in the second initially divided detection areas as the second pipeline robots; Integrate the first initially divided detection area and multiple second initially divided detection areas into one detection area, and use the position of the obstacle points as the feature points; Count the number of the first robot and the second robot to obtain the number of robots; Based on the feature points, re-divide the detection area into areas with the same number as the number of robots to obtain multiple re-divided detection areas with the same number as the number of robots; Specifically, obtain the specific position information of all obstacle points. For each obstacle point, determine the initial segmentation detection area where it is located, and mark it as the first initial segmentation detection area. Record the relevant information of the first initial segmentation detection area, such as area number, range, features, etc.; designate the pipeline robot responsible for the first initial segmentation detection area as the first robot. Record the relevant information of the first robot, such as robot number, performance parameters, etc. Search for other initial segmentation detection areas adjacent to the first initial segmentation detection area, and mark them as the second initial segmentation detection areas. Record the relevant information of the second initial segmentation detection areas. Designate the pipeline robot responsible for each second initial segmentation detection area as the second robot. Record the relevant information of each second robot. Integrate the first initial segmentation detection area and multiple second initial segmentation detection areas into a large detection area. In the integrated detection area, mark the position of the obstacle point as a feature point, and count the total number of all robots in the integrated detection area, including the first robot and the second robots. Record the total number of robots as the basis for subsequent re - division of the sub - detection areas. According to the number of robots, determine to re - divide the integrated detection area into sub - detection areas with the same number as the robots. Ensure that the size, complexity, and detection difficulty of each sub - detection area are relatively balanced. Use the position information of the feature points, combined with the pipeline layout and robot performance, to divide the integrated detection area, and obtain multiple sub - detection areas with the same number as the robots. Record the relevant information of each sub - detection area, such as area number, range, position of feature points, robot number responsible, etc., which can control the underground pipeline robot to efficiently detect the gas pipeline, and prevent the situation where the first robot cannot completely cover the first initial segmentation detection area due to obstacle points. When the first initial segmentation detection area cannot completely cover the pipeline due to obstacle points, re - division is carried out, the path is re - planned, and the movement path of the pipeline robot is dynamically controlled, so as to flexibly detect the pipeline, improve and enhance the comprehensive capabilities in multiple dimensions such as the operation, early warning, and emergency response of the entire gas pipeline network, greatly reducing the possibility of faults and accidents, as well as the degree of harm and the comprehensive cost of daily operation and management.

[0020] S6: Send control commands to each pipeline robot according to the motion information, and the pipeline robot executes the control commands corresponding to the motion information in the gas pipeline.

[0021] A remote control system for an underground pipeline robot, applied to the remote control method described in any one of the above, includes: An area division module, configured to obtain the gas pipeline to be detected and divide it into multiple initial segmentation detection areas, and allocate pipeline robots to each initial segmentation detection area; An information formulation module, configured to plan the preliminary detection paths of each pipeline robot within the initially divided detection area, formulate the motion information of the pipeline robot based on the preliminary detection paths; collect the internal data of the pipeline within the initially divided detection area based on the motion information; A database construction module, configured to establish a communication link between the pipeline robot and the remote control terminal, transmit the internal data of the pipeline to the remote control terminal based on the communication link, and set up a database at the remote control terminal; A marking module, configured to determine and mark the abnormal state of the pipeline based on the internal data of the pipeline and the internal environment data of the pipeline, wherein the abnormal state of the pipeline is divided into an obstacle state and a pipeline defect state; take the position corresponding to the obstacle state as an obstacle point; An information update module, configured to re-divide the initially divided detection area based on the position information of the obstacle point to obtain a re-divided detection area; re-plan the detection path of the re-divided detection area to form a target detection path; formulate the motion information of each pipeline robot inside the gas pipeline based on the target detection path; A robot control module, which sends control instructions to each pipeline robot according to the motion information, and the pipeline robot executes the control instructions of the corresponding motion information inside the gas pipeline.

[0022] In the present invention, by dividing the pipeline into areas corresponding to multiple robots, multiple robots are used to perform collaborative inspection inside the area pipeline according to the corresponding preliminarily planned paths. The abnormal state of the pipeline is determined by constructing a preset environment model and the actual environment. When an obstacle is encountered, the position of the obstacle is used as an obstacle point, so as to re-divide the un-inspected part in the initially divided detection area, re-plan the paths of multiple pipeline robots in the re-divided initially divided detection area, and remotely control the pipeline robot to detect the gas pipeline according to the newly formulated motion information. According to the dynamic planning of the detection path, it is possible to avoid the robot waiting or detouring for a long time and improve the detection efficiency; remotely control the pipeline robot to detect the gas pipeline according to the newly formulated motion information, so that the staff can accurately formulate the motion information of the robot according to the actual situation, such as speed, direction, acquisition frequency, etc., thereby realizing the precise control of the robot. Through the remote control terminal, the status and position information of the robot can be monitored in real time, and the action strategy of the robot can be adjusted at any time according to the needs. This enables the staff to better master the inspection progress and results, and improves the efficiency and accuracy of remote control.

[0023] In the description of this specification, the descriptions referring to terms such as "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

[0024] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A remote control method for an underground pipeline robot, characterized in that, It includes the following steps: Obtain the gas pipeline to be detected and divide it into multiple initial detection areas, and allocate pipeline robots to each initial detection area; Plan the preliminary detection paths of each pipeline robot in the initial detection area, formulate the motion information of the pipeline robot based on the preliminary detection paths; collect the internal data of the pipeline in the initial detection area based on the motion information; Construct a communication link between the pipeline robot and the remote control terminal, transmit the internal data of the pipeline to the remote control terminal based on the communication link, and set up a database at the remote control terminal; Determine and mark the abnormal state of the pipeline based on the internal data of the pipeline and the internal environment data of the pipeline, where the abnormal state of the pipeline is divided into obstacle state and pipeline defect state; take the position corresponding to the obstacle state as the obstacle point; Based on the position information of the obstacle points, re-divide the initial detection area to obtain a re-detection area; re-plan the detection path of the re-detection area to form a target detection path; formulate the motion information of each pipeline robot inside the gas pipeline based on the target detection path; Send control instructions to each pipeline robot according to the motion information, and the pipeline robot executes the control instructions corresponding to the motion information inside the gas pipeline.

2. The remote control method for an underground pipeline robot according to claim 1, characterized in that: The step of obtaining the gas pipeline to be detected and dividing it into multiple initial detection areas includes: Obtain the layout model of the gas pipeline to be detected, identify and mark the pipeline corner points and end points in the layout model to obtain feature points; Based on the feature points, divide the gas pipeline into multiple initial detection areas.

3. A remote control method for an underground pipeline robot according to claim 1, characterized in that: The step of planning the preliminary detection paths of each pipeline robot in the initial detection area and formulating the motion information of the pipeline robot based on the preliminary detection paths includes: Determine the starting point and ending point of the pipeline robot according to the initial detection area, generate multiple path points between the starting point and the ending point, where each feature point corresponds to a path point, and multiple path points are set between two feature points; Generate preliminary detection paths corresponding to the path points, and determine the motion direction of the pipeline robot at each path point based on the preliminary detection paths; Obtain the driving speed of the pipeline robot and the acquisition range of the acquisition point, and determine the acquisition frequency of the acquisition point based on the acquisition range of the acquisition point and the driving speed; Take the motion direction and the acquisition frequency as the motion information corresponding to the pipeline robot.

4. A remote control method for an underground pipeline robot according to claim 3, characterized in that: The step of collecting the internal data of the pipeline in the initial detection area based on the motion information includes: Obtain the positions passed by the pipeline robot in the pipeline of the initial detection area based on the motion direction in the motion information, and delimit the positions passed by the pipeline robot to obtain the range of image acquisition; Perform range division in the range of image acquisition to obtain multiple unit intervals, and the multiple unit intervals are arranged in sequence; Take the camera configured on the pipeline robot as the acquisition point in the multiple unit intervals, set the grabbing points in the unit intervals corresponding to the acquisition points, and bind the grabbing points with the corresponding acquisition points; Connect the positions where the acquisition points collect the internal data of the pipeline to obtain an acquisition chain, and the acquisition points collect the images of the internal pipeline at the positions where the pipeline robot is located. Correspond the image inside the pipeline with the corresponding acquisition chain to obtain the data inside the pipeline, where the data inside the pipeline includes multiple images inside the pipeline corresponding to the acquisition points.

5. A remote control method for an underground pipeline robot according to claim 1, characterized in that: The step of setting up the database at the remote control end includes: Obtain the acquisition points corresponding to the data inside the pipeline transmitted to the remote control end; Based on the acquisition points, determine the unit intervals corresponding to the data inside the pipeline, and preset the pipeline internal environment information for the corresponding unit intervals; Store the data inside the pipeline and the pipeline internal environment information in the database.

6. A remote control method for an underground pipeline robot according to claim 1, characterized in that: The step of determining and marking the abnormal state of the pipeline based on the data inside the pipeline and the pipeline internal environment data includes: Obtain the data inside the pipeline and the pipeline internal environment information, and compare the data inside the pipeline with the pipeline internal environment information; Extract the image parts different from the pipeline internal environment information through the capture points, connect the adjacent capture points, and enhance the contour of the image part enclosed by the adjacent capture points to obtain the target image; Construct a three-dimensional model of the target image based on the target image, and determine the target object corresponding to the target image based on the three-dimensional model; Evaluate the fitting ratio of the target object to the inner wall of the pipeline; Take the target object corresponding to the fitting ratio exceeding the preset conditions as the preliminary abnormal state, determine the obstacle state based on the preliminary abnormal state and mark it; Take the target object corresponding to the fitting ratio not exceeding the preset conditions as the pipeline defect state and mark it.

7. A remote control method for an underground pipeline robot according to claim 6, characterized in that: The step of determining and marking the obstacle state based on the preliminary abnormal state includes: Obtain the pipeline information of the gas pipeline in the preliminary detection area, and calculate the cross-sectional area of the gas pipeline based on the pipeline information; Extract the contour of the target object in the three-dimensional model of the target image to obtain the target object contour, and evaluate the occupancy ratio of the target object contour occupying the cross-sectional area; Take the target contour corresponding to the occupancy ratio exceeding the preset conditions as the obstacle contour, take the preliminary abnormal state in the target image corresponding to the obstacle contour as the obstacle state, and mark the obstacle state; Take the target object contour corresponding to the occupancy ratio not exceeding the preset conditions as the marked contour, take the preliminary abnormal state in the target image corresponding to the marked contour as the pipeline defect state, and mark the pipeline defect state.

8. A remote control method for an underground pipeline robot according to claim 1, characterized in that: The step of re-dividing the preliminary detection area based on the position information of the obstacle points to obtain the re-detection area includes: Determine the preliminary detection area where the position information of the obstacle points is located as the first preliminary detection area, and take the pipeline robot in the first preliminary detection area as the first robot; Obtain other preliminary detection areas adjacent to the first preliminary detection area as the second preliminary detection area, and take the pipeline robot in the second preliminary detection area as the second pipeline robot; Integrate the first preliminary detection area and multiple second preliminary detection areas into one detection area, and take the position of the obstacle point as the feature point; Count the number of the first robot and the second robot to obtain the number of robots; Based on the feature points, re-divide the detection area into areas with the same number as the number of robots to obtain multiple re-detection areas with the same number as the number of robots.

9. A remote control system for an underground pipeline robot, which is applied to the remote control method according to any one of claims 1-8, characterized in that, Include: The area division module is used to obtain the gas pipeline to be detected and divide it into multiple initially divided detection areas, and allocate pipeline robots to each initially divided detection area; The information formulation module is used to plan the preliminary detection paths of each pipeline robot in the initially divided detection area, formulate the motion information of the pipeline robot based on the preliminary detection paths; collect the internal pipeline data of the initially divided detection area based on the motion information; The database construction module is used to build a communication link between the pipeline robot and the remote control terminal, transmit the internal pipeline data to the remote control terminal based on the communication link, and set up a database at the remote control terminal; The marking module is used to determine and mark the abnormal state of the pipeline based on the internal pipeline data and the internal pipeline environment data, wherein the abnormal state of the pipeline is divided into an obstacle state and a pipeline defect state; the position corresponding to the obstacle state is used as an obstacle point; The information update module is used to re-divide the initially divided detection area based on the position information of the obstacle point to obtain a re-divided detection area; re-plan the detection path of the re-divided detection area to form a target detection path; formulate the motion information of each pipeline robot inside the gas pipeline based on the target detection path; The robot control module issues control instructions to each pipeline robot according to the motion information, and the pipeline robot executes the control instructions of the corresponding motion information inside the gas pipeline.

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