Remote control method and system for underground pipeline robot

Abstract

The present invention relates to the field of robot control technology, and specifically to a remote control method and system for an underground pipeline robot. The method comprises the following steps: obtaining a gas pipeline to be inspected and dividing it into multiple preliminary inspection areas, and allocating a pipeline robot to each preliminary inspection area; planning a preliminary inspection path for each pipeline robot within the preliminary inspection area, and formulating motion information of the pipeline robot based on the preliminary inspection path; establishing a communication link between the pipeline robot and a remote control terminal, transmitting internal data of the pipeline to the remote control terminal based on the communication link, and setting a database at the remote control terminal; issuing control instructions to each pipeline robot based on the motion information, and the pipeline robot executing the control instructions corresponding to the motion information in the gas pipeline. Through efficient remote control technology, precise control of the underground pipeline robot can be achieved, thereby improving the efficiency and safety of pipeline inspection and maintenance.

Description

Technical Field

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

[0002] With the acceleration of urbanization, underground pipeline networks are becoming increasingly complex and extensive, making their safe operation crucial to the stability of urban infrastructure. However, due to their long-term burial, underground pipelines are susceptible to various factors, such as soil corrosion, external damage, and aging. These factors can lead to leaks, blockages, and ruptures, seriously impacting urban safety and residents' lives. Therefore, it is necessary to control underground pipeline robots to conduct regular inspection and maintenance of underground pipelines, promptly identifying and addressing potential problems.

[0003] The existing remote control of underground pipeline robots makes it difficult to accurately remotely control the underground pipeline robots according to flexible detection paths during use, which affects the control effect of the pipeline robots and further affects the detection effect of the gas pipelines.

[0004] To this end, we propose a remote control method and system for underground pipeline robots to solve the above problems. Summary of the Invention

[0005] The object 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 technology.

[0006] To achieve the above objectives, the present invention provides the following technical solutions: a remote control method and system for an underground pipeline robot, the method comprising the following steps:

[0007] Obtain the gas pipeline to be inspected and divide it into multiple preliminary inspection areas, and assign a pipeline robot to each preliminary inspection area;

[0008] Plan the preliminary inspection path for each pipeline robot within the preliminary inspection area, and generate motion information for the pipeline robot based on the preliminary inspection path; collect internal pipeline data in the preliminary inspection area based on the motion information;

[0009] Build 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 on the remote control terminal;

[0010] Determine and mark pipeline abnormal states based on pipeline internal data and pipeline internal environment data. Pipeline abnormal states are divided into obstacle states and pipeline defect states. The location corresponding to the obstacle state is regarded as the obstacle point.

[0011] Based on the location information of the obstacle points, the initial detection area is re-divided to obtain a sub-divided detection area; the detection path of the sub-divided detection area is re-planned to form a target detection path; and the motion information of each pipeline robot inside the gas pipeline is formulated based on the target detection path;

[0012] A control instruction is issued to each pipeline robot according to the motion information, and the pipeline robot executes the control instruction corresponding to the motion information in the gas pipeline.

[0013] Preferably, the step of obtaining the gas pipeline to be inspected and dividing it into a plurality of preliminary inspection areas includes:

[0014] Obtain a gas pipeline layout model to be inspected, identify and mark pipeline corner points and endpoints in the layout model to obtain feature points;

[0015] The gas pipeline is divided into regions based on feature points to obtain multiple preliminary detection areas.

[0016] Preferably, the steps of planning a preliminary detection path for each pipeline robot in the preliminary detection area and formulating motion information of the pipeline robot based on the preliminary detection path include:

[0017] Determine the starting point and end point of the pipeline robot according to the initial detection area, and generate multiple path points between the starting point and the end point, wherein each feature point corresponds to a path point, and multiple path points are set between two feature points;

[0018] Generate a preliminary detection path for the corresponding path points, and determine the movement direction of the pipeline robot at each path point based on the preliminary detection path;

[0019] Obtain the driving speed of the pipeline robot and the collection range of the collection point, and determine the collection frequency of the collection point based on the collection range and driving speed of the collection point;

[0020] The motion direction and acquisition frequency are used as the motion information corresponding to the pipeline robot.

[0021] Preferably, the step of collecting internal data of the pipeline in the initial detection area based on the motion information includes:

[0022] The position of the pipeline robot in the pipeline of the initial detection area is obtained based on the movement direction in the movement information, and the position passed by the pipeline robot is delineated to obtain the range of image acquisition;

[0023] Dividing the range of image acquisition into multiple unit intervals, and arranging the multiple unit intervals in sequence;

[0024] The cameras configured on the pipeline robot are used as collection points in multiple unit intervals. Grasping points are set in the corresponding unit intervals, and the grasping points are bound to the corresponding collection points.

[0025] The locations where the collection points collect data inside the pipeline are connected to obtain a collection chain, and the corresponding collection points collect images inside the pipeline at the locations where the pipeline robot is located;

[0026] The image inside the pipeline is matched with the corresponding acquisition chain to obtain the pipeline internal data, wherein the pipeline internal data includes multiple pipeline internal images of corresponding acquisition points.

[0027] Preferably, the step of setting up a database on the remote control terminal includes:

[0028] Obtain the collection point corresponding to the internal data of the pipeline transmitted to the remote control terminal;

[0029] Determine the unit interval corresponding to the internal data of the pipeline based on the collection point, and preset the internal environment information of the pipeline for the corresponding unit interval;

[0030] The internal data of the pipeline and the internal environment information of the pipeline are stored in the database.

[0031] Preferably, the step of determining and marking the abnormal state of the pipeline based on the pipeline internal data and the pipeline internal environment data includes:

[0032] Obtaining pipeline internal data and pipeline internal environment information, and comparing the pipeline internal data with the pipeline internal environment information;

[0033] The image portion that is different from the internal environment information of the pipeline is extracted through the grasping points, and the adjacent grasping points are connected. The contour of the image portion surrounded by the adjacent grasping points is enhanced to obtain the target image;

[0034] constructing a three-dimensional model of the target image based on the target image, and determining a target object corresponding to the target image based on the three-dimensional model;

[0035] Evaluate the fit ratio between the target object and the inner wall of the pipe;

[0036] The target object corresponding to the fitting ratio exceeding the preset conditions is regarded as a pre-selected abnormal state, and the obstacle state is determined and marked based on the pre-selected abnormal state;

[0037] The target objects corresponding to the fitting ratio that does not exceed the preset conditions are regarded as pipeline defect states and marked.

[0038] Preferably, the step of determining the obstacle state based on the preselected abnormal state and marking the obstacle state includes:

[0039] Obtain pipeline information of the gas pipeline in the initial detection area, and calculate the cross-sectional area of the gas pipeline based on the pipeline information;

[0040] Extracting the outline of the target object in the three-dimensional model of the target image to obtain the target object contour, and evaluating the proportion of the cross-sectional area occupied by the target object contour;

[0041] The target contour corresponding to the occupancy ratio exceeding the preset condition is regarded as the obstacle contour, the preselected abnormal state in the target image corresponding to the obstacle contour is regarded as the obstacle state, and the obstacle state is marked;

[0042] The target object contour corresponding to the occupancy ratio that does not exceed the preset conditions is used as the marked contour, the preselected abnormal state in the target image corresponding to the marked contour is used as the pipeline defect state, and the pipeline defect state is marked.

[0043] Preferably, the step of re-dividing the initial detection area based on the location information of the obstacle point to obtain the re-divided detection area includes:

[0044] Determine the initial detection area where the location information of the obstacle point is located as the first initial detection area, and use the pipeline robot in the first initial detection area as the first robot;

[0045] Acquire another primary detection area adjacent to the first primary detection area as a second primary detection area, and use the pipeline robot in the second primary detection area as the second pipeline robot;

[0046] Integrate the first preliminary detection area and multiple second preliminary detection areas into one detection area, and use the position of the obstacle point as the feature point;

[0047] Counting the number of the first robot and the second robot to obtain the number of robots;

[0048] The detection area is re-divided into areas whose number is consistent with the number of robots based on the feature points to obtain a plurality of re-divided detection areas whose number is consistent with the number of robots.

[0049] A remote control system for an underground pipeline robot, applied to any of the remote control methods described above, comprising:

[0050] The area division module is used to obtain the gas pipeline to be inspected and divide it into multiple preliminary inspection areas, and assign a pipeline robot to each preliminary inspection area;

[0051] The information formulation module is used to plan the preliminary detection path of each pipeline robot in the preliminary detection area, formulate the motion information of the pipeline robot based on the preliminary detection path, and collect the internal data of the pipeline in the preliminary detection area based on the motion information;

[0052] A database construction module is used 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 on the remote control terminal;

[0053] A marking module is used to determine and mark pipeline abnormal conditions based on pipeline internal data and pipeline internal environment data. The pipeline abnormal conditions are divided into obstacle conditions and pipeline defect conditions; the location corresponding to the obstacle condition is regarded as the obstacle point;

[0054] The information update module is used to redivide the initial detection area based on the location information of the obstacle point to obtain a sub-divided detection area; re-plan the detection path of the sub-divided detection area to form a target detection path; and formulate the movement information of each pipeline robot inside the gas pipeline based on the target detection path;

[0055] The robot control module sends control instructions to each pipeline robot based on the motion information, and the pipeline robot executes the control instructions corresponding to the motion information in the gas pipeline.

[0056] Compared with the prior art, the present invention has the following beneficial effects:

[0057] By dividing the gas pipeline to be inspected into multiple preliminary inspection areas and assigning a pipeline robot to each area, multi-area parallel inspection is achieved, avoiding the time waste of traditional single inspection methods, greatly improving the overall inspection efficiency and shortening the inspection cycle;

[0058] Plan the preliminary inspection path for each pipeline robot within the initial inspection area, and re-divide the inspection area and plan the target inspection path based on the location information of the obstacle points. Control the pipeline robot to perform inspections along the optimal path, reduce unnecessary travel, and further improve inspection efficiency.

[0059] Control instructions are issued to each pipeline robot based on the motion information. The pipeline robot can accurately execute the control instructions corresponding to the motion information in the gas pipeline, realize precise control of the detection process, improve the flexibility and operability of the detection method, and realize precise control of underground pipeline robots to improve the efficiency and safety of pipeline detection and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0061] Figure 1 Schematic diagram of the method flow of the present invention;

[0062] Figure 2 This is a system structure diagram of the present invention. DETAILED DESCRIPTION

[0063] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0064] For example, see Figures 1 to 2 The present invention provides a remote control method and system technical solution for an underground pipeline robot: A remote control method for an underground pipeline robot comprises the following steps:

[0065] S1: Obtain the gas pipeline to be inspected and divide it into multiple preliminary inspection areas, and assign a pipeline robot to each preliminary inspection area;

[0066] The steps of obtaining the gas pipeline to be inspected and dividing it into multiple preliminary inspection areas include:

[0067] Obtain a gas pipeline layout model to be inspected, identify and mark pipeline corner points and endpoints in the layout model to obtain feature points;

[0068] Divide the gas pipeline into regions based on feature points to obtain multiple initial detection areas;

[0069] It should be noted that the endpoints include the endpoints at both ends of the gas pipeline, that is, the starting and ending points of the pipeline, and the corner points include the points where the direction of the pipeline 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 are recorded to provide a basis for subsequent area division. In the area division, the feature points with the closest distance between the starting point and the end point of the pipeline robot within the coverage of the same communication network can be divided into a preliminary detection area, thereby reducing the number of repeated pipelines detected by the pipeline robot and improving the efficiency of pipeline detection;

[0070] Obtain the specific details of the gas pipeline layout model to be inspected and conduct on-site measurements of the pipeline using measurement tools (such as laser rangefinders, total stations, etc.) to obtain accurate pipeline locations and dimensions. During the on-site survey, mark the pipeline's characteristic points (such as bends, U-turns, valves, tees, etc.). Utilize CAD software or a GIS system to integrate the collected data into a digital pipeline layout model.

[0071] Specifically, first obtain a detailed layout diagram of the gas pipeline, including the pipeline direction, branches, connection points, etc., and obtain parameters such as the pipeline diameter, material, service life, and historical maintenance records; when dividing the area, try to ensure that the length and complexity of each initial detection area are similar, so as to facilitate the balanced distribution of detection tasks to each pipeline robot; according to the entry and exit paths of the pipeline robot, ensure that each initial detection area can be effectively monitored, and according to the historical fault records and environmental factors of the pipeline, the area 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 corresponding communication of the pipeline robot in the initial detection area can fully cover the corresponding initial detection area; according to the direction and branches of the pipeline, divide the pipeline into multiple continuous or independent areas, and divide the gas pipeline into multiple initial detection areas, each area has clear boundaries and detection requirements; it can improve the comprehensiveness and detection efficiency of gas pipeline detection;

[0072] S2: Planning a preliminary inspection path for each pipeline robot within the preliminary inspection area, and generating motion information for the pipeline robot based on the preliminary inspection path; collecting internal pipeline data within the preliminary inspection area based on the motion information, wherein the motion information includes motion direction and acquisition frequency;

[0073] The steps of planning a preliminary detection path for each pipeline robot within the preliminary detection area and formulating motion information of the pipeline robot based on the preliminary detection path include:

[0074] Determine the starting point and end point of the pipeline robot according to the initial detection area, and generate multiple path points between the starting point and the end point, wherein each feature point corresponds to a path point, and multiple path points are set between two feature points;

[0075] Generate a preliminary detection path for the corresponding path points, and determine the movement direction of the pipeline robot at each path point based on the preliminary detection path;

[0076] Obtain the driving speed of the pipeline robot and the collection range of the collection point, and determine the collection frequency of the collection point based on the collection range and driving speed of the collection point;

[0077] The motion direction and acquisition frequency are used as motion information corresponding to the pipeline robot;

[0078] Specifically, the movement direction can be straight, turning, etc., depending on the location of the path point and the layout of the pipeline; the driving speed of the pipeline robot can be set according to the needs of the staff. The collection point comes from the camera configured for the pipeline robot. The camera is used as the collection point, and the collection frequency is determined according to the driving speed and collection range of the pipeline robot. The collection frequency is to ensure that the image information of the interior of the pipeline continuously captured within a certain interval can fully cover the environmental conditions inside the pipeline when the pipeline robot moves in the direction of movement;

[0079] The steps of collecting internal data of the pipeline in the initial detection area based on motion information include:

[0080] The position of the pipeline robot in the pipeline of the initial detection area is obtained based on the movement direction in the movement information, and the position passed by the pipeline robot is delineated to obtain the range of image acquisition;

[0081] Dividing the range of image acquisition into multiple unit intervals, and arranging the multiple unit intervals in sequence;

[0082] The cameras configured on the pipeline robot are used as collection points in multiple unit intervals. Grasping points are set in the corresponding unit intervals, and the grasping points are bound to the corresponding collection points.

[0083] The locations where the collection points collect data inside the pipeline are connected to obtain a collection chain, and the corresponding collection points collect images inside the pipeline at the locations where the pipeline robot is located;

[0084] Matching the image inside the pipeline with the corresponding acquisition chain to obtain pipeline internal data, wherein the pipeline internal data includes multiple pipeline internal images of corresponding acquisition points;

[0085] It should be noted that the image acquisition range is obtained by delineating the position passed by the pipeline robot. Delineating the position passed by the pipeline robot refers to delineating the interior of the pipeline. The delineation is performed according to the length of the pipeline, and the preliminary detection path passed by the pipeline robot is divided into unit intervals. For example, a pipeline is divided into several small sections according to the preliminary detection path, and each small section is used as an image acquisition range.

[0086] Specifically, the camera configured with the pipeline robot is used as a collection point in multiple unit intervals, which is equivalent to setting corresponding collection points in multiple unit intervals. Because the pipeline robot is mobile, the camera configured on the pipeline robot is also mobile. Using the camera as a collection point can make the collection point also mobile. When the pipeline robot is in the corresponding unit interval, the collection point is located in the same unit interval as the pipeline robot. According to the movement of the pipeline robot, the camera can collect the internal information of the pipeline in the unit interval passed by the pipeline robot at any time, and take pictures through the camera and transmit them to the remote control end. Each position of the pipeline robot is uniquely marked, and the collection points corresponding to the marked positions are connected as a collection chain. After collecting the internal image of the pipeline, it is bound to the position of the pipeline robot, that is, bound to the position of the collection point, so as to ensure that the internal image of the pipeline can correspond to the position of the collection point, thereby facilitating the subsequent judgment of the position of the pipeline robot inside the pipeline, and facilitating the comparison of the internal image of the pipeline with the preset internal pipeline environment information of the corresponding position, so as to further detect the interior of the pipeline for maintenance of the interior of the pipeline;

[0087] S3: Establishing a communication link between the pipeline robot and the remote control terminal, transmitting the pipeline internal data to the remote control terminal based on the communication link, and setting up a database on the remote control terminal, wherein the database includes preset pipeline internal environment data corresponding to each pipeline and the pipeline internal data received by the remote control terminal;

[0088] The steps of setting up a database at the remote control terminal, wherein the database includes preset pipeline internal environment data corresponding to each pipeline and the pipeline internal data received by the remote control terminal include:

[0089] Obtain the collection point corresponding to the internal data of the pipeline transmitted to the remote control terminal;

[0090] Determine the unit interval corresponding to the internal data of the pipeline based on the collection point, and preset the internal environment information of the pipeline for the corresponding unit interval;

[0091] Storing pipeline internal data and pipeline internal environment information in a database;

[0092] Specifically, the initial detection area is divided into unit intervals, and the internal environment data of the pipeline is preset at the position of the corresponding collection point. The position of the collection point is determined according to the pipeline robot. The collection point is configured on the pipeline robot. The collection point is related to the collection frequency in the motion information, and the collection frequency is related to the collection range. For example, when the internal image of the pipeline can be captured from the first collection point to two meters away, the next collection point is set to a position almost two meters away from the first collection point, so that the image of the pipeline inside the next collection is completely covered when it is spliced with the image of the pipeline inside the previous collection point. The environmental content inside the actual pipeline can be completely covered. The collection frequency is determined by the moving speed and collection range of the pipeline robot. For example, when the collection range is 3 meters and the moving speed of the pipeline robot is 18 meters / minute, the corresponding collection frequency is once every 10 seconds. By presetting the internal environment information of the pipeline corresponding to each unit interval through the corresponding collection point, and storing it together with the internal pipeline data received by the remote control terminal in the database, it is convenient to detect the internal pipeline data in the future and judge whether there is an abnormal pipeline state.

[0093] S4: Determine and mark the abnormal state of the pipeline based on the pipeline internal data and the pipeline internal 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 regarded as the obstacle point;

[0094] 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:

[0095] Obtaining pipeline internal data and pipeline internal environment information, and comparing the pipeline internal data with the pipeline internal environment information;

[0096] The image portion that is different from the internal environment information of the pipeline is extracted through the grasping points, and the adjacent grasping points are connected. The contour of the image portion surrounded by the adjacent grasping points is enhanced to obtain the target image;

[0097] constructing a three-dimensional model of the target image based on the target image, and determining a target object corresponding to the target image based on the three-dimensional model;

[0098] Evaluate the fit ratio between the target object and the inner wall of the pipe;

[0099] The target object corresponding to the fitting ratio exceeding the preset conditions is regarded as a pre-selected abnormal state, and the obstacle state is determined and marked based on the pre-selected abnormal state;

[0100] The target objects corresponding to the fitting ratio that does not exceed the preset conditions are marked as pipeline defect states;

[0101] It should be noted that the specific steps involved in constructing a 3D model of a target image are as follows: When a target image is detected during comparison, the pipeline robot's cameras are activated to capture image information of the target object corresponding to the target image from multiple angles. This allows for more image information to be obtained, and the collected image information is preprocessed, including denoising, contrast enhancement, and color balance adjustment, to improve image quality. Image correction techniques (such as perspective correction) are used to reduce distortion caused by the shooting angle. Key feature points are extracted from each image. These feature points reflect the shape and edge information of the target object. Feature points from different images are matched to establish correspondences between them. Feature descriptors can be used to improve matching efficiency. Camera calibration can also be performed to obtain camera intrinsic and extrinsic parameters. A 3D model of the target object corresponding to the target image is reconstructed from multiple images. The target object's shape is determined based on the matched feature points and / or 3D model. If the camera calibration parameters are known, the target object's size can be determined by calculating the real-world coordinates of the feature points. Otherwise, relative size estimation methods can be used to estimate the actual size of the target object by comparing its size in different images. In some cases, the size estimation can be calibrated by using the image of a reference object of known size (such as a ruler or coin), so that the specific information of the target object, such as the shape and size of the target object, can be determined from the corresponding 3D model.

[0102] The specific content of evaluating the fit ratio between the target object and the inner wall of the pipeline and selecting the target object corresponding to the fit ratio exceeding the preset conditions as the pre-selected abnormal state is as follows: determine the shape and size of the target object based on the three-dimensional model, and evaluate its fit ratio with the inside of the pipeline based on the shape and size information of the target object. The corresponding calculation formula is, fit ratio = fit area / total surface area of the target object (or the area of the relevant area of the inner wall of the pipeline) × 100%. The fit area is calculated by the shape and size of the target object in the three-dimensional model. For example, if the fit area is a square, the edge length of the target object on the inner wall of the pipeline is collected to calculate the area of the fit area. Then, the overall surface area of the target object is calculated based on its shape. 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. The fit ratio can be calculated using the fit ratio calculation formula. A fit ratio threshold can be set as a preset condition based on actual needs. The fit ratio can be set to be greater than a certain value (such as 50%) before the target object is considered to be non-fitted with the inner wall of the pipeline. When the fit ratio does not exceed this value, it indicates that the target object is in a pre-selected abnormal state, that is, it may be an obstacle. When it exceeds this value, it indicates that the target object is integrated with the pipeline and is a defect of the pipeline itself, that is, an internal pipeline defect.

[0103] The steps of determining and marking the obstacle status based on the preselected abnormal status include:

[0104] Obtain pipeline information of the gas pipeline in the initial detection area, and calculate the cross-sectional area of the gas pipeline based on the pipeline information;

[0105] Extracting the outline of the target object in the three-dimensional model of the target image to obtain the target object contour, and evaluating the proportion of the cross-sectional area occupied by the target object contour;

[0106] The target contour corresponding to the occupancy ratio exceeding the preset condition is regarded as the obstacle contour, the preselected abnormal state in the target image corresponding to the obstacle contour is regarded as the obstacle state, and the obstacle state is marked;

[0107] The target object contour corresponding to the occupancy ratio that does not exceed the preset condition is used as the marked contour, the preselected abnormal state in the target image corresponding to the marked contour is used as the pipeline defect state, and the pipeline defect state is marked;

[0108] It should be noted that the specific content of obtaining the pipeline information of the gas pipeline in the initial detection area and calculating the cross-sectional area of the gas pipeline based on the pipeline information is that different cross-sectional area calculation methods are used according to different gas pipelines. For example, when it is a circular pipeline, the pipeline information obtained represents the diameter of the pipeline. According to the diameter of the pipeline, the area calculation formula used is Thus, the cross-sectional area of the pipe is calculated. is the cross-sectional area of the pipe, is the radius of the circle, is the ratio of pi. When the gas pipeline is a rectangular pipeline, the cross section of the pipeline is a rectangle. The corresponding pipeline information is the length and width of the inner cross section of the pipeline. The formula corresponding to the cross section area is the product of length and width.

[0109] The target object contour corresponding to the occupancy ratio that does not exceed the preset condition is used as the marked contour, where the preset condition refers to a preset threshold value corresponding to the occupancy ratio. When the occupancy ratio does not exceed the preset threshold value, 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 conditions for being an obstacle state. The occupancy ratio here can be set based on whether the pipeline robot can move normally. When the pipeline robot can move normally, it means that it is not an obstacle state. Otherwise, it is an obstacle state. However, the target object that is not an obstacle state is still marked as a type of pipeline defect state. Pipeline defect states may include blockages, cracks, etc.

[0110] Specifically, the outline of the target object in the three-dimensional model of the target image is extracted to obtain the target object contour. The target object contour here refers to the outline of the three-dimensional model extracted at the same angle as the internal environment information of the pipeline is collected. 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, thereby effectively ensuring that the extracted contour can correspond one to one to the interior of the pipeline, which is used to ensure the accuracy of the subsequent further evaluation of the occupancy ratio.

[0111] The specific content of evaluating the proportion of the target object's contour area occupied by the cross-sectional area is as follows: the pipeline robot's travel direction is used as the collection angle of the collection point, and the target object's contour area and the cross-sectional area of the pipeline are collected according to the collection angle, and the proportion of the target object's contour area occupied by the pipeline cross-sectional area is calculated. The corresponding calculation formula is ,in, Indicates the contour area of the target object, that is, the area of the target object projected on the pipe cross section. represents the cross-sectional area of the pipe, Indicates the ratio of the target object's contour area to the pipe cross-sectional area. By limiting the acquisition angle, it can better ensure that the target object's contour area and the pipe cross-sectional area are acquired from the same angle, thereby improving the accuracy of the occupancy ratio assessment;

[0112] S5: Based on the location information of the obstacle point, the initial detection area is re-divided to obtain a sub-divided detection area; the detection path of the sub-divided detection area is re-planned to form a target detection path; and the movement information of each pipeline robot inside the gas pipeline is formulated based on the target detection path;

[0113] Based on the location information of the obstacle point, the initial detection area is redivided to obtain the re-divided detection area, including the following steps:

[0114] Determine the initial detection area where the location information of the obstacle point is located as the first initial detection area, and use the pipeline robot in the first initial detection area as the first robot;

[0115] Acquire another primary detection area adjacent to the first primary detection area as a second primary detection area, and use the pipeline robot in the second primary detection area as the second pipeline robot;

[0116] Integrate the first preliminary detection area and multiple second preliminary detection areas into one detection area, and use the position of the obstacle point as the feature point;

[0117] Counting the number of the first robot and the second robot to obtain the number of robots;

[0118] Re-dividing the detection area into areas whose number is the same as the number of robots based on the feature points to obtain multiple subdivided detection areas whose number is the same as the number of robots;

[0119] Specifically, obtain the specific location information of all obstructions. For each obstruction, determine the initial inspection area within which it lies and mark it as the first initial inspection area. Record relevant information about the first initial inspection area, such as the area number, range, and features. Designate the pipeline robot responsible for the first initial inspection area as the first robot. Record relevant information about the first robot, such as the robot number and performance parameters. Find other initial inspection areas adjacent to the first initial inspection area and mark them as second initial inspection areas. Record relevant information about the second initial inspection areas. Designate the pipeline robot responsible for each second initial inspection area as the second robot. Record relevant information about each second robot. Combine the first initial inspection area and multiple second initial inspection areas into a single large inspection area. Mark the locations of the obstructions as feature points within the combined inspection area. Count the number of all robots within the combined inspection area, including the first and second robots. Record the total number of robots as a basis for subsequent re-division of inspection areas. Based on the number of robots, determine the appropriate re-division of the combined inspection area into sub-inspection areas that correspond to the number of robots. Ensure that each sub-inspection area is relatively balanced in size, complexity, and inspection difficulty. By utilizing the location information of the feature points, combined with the pipeline layout and robot performance, the integrated detection area is divided to obtain multiple subdivided detection areas that are consistent with the number of robots. The relevant information of each subdivided detection area, such as the area number, range, feature point location, responsible robot number, etc., is recorded. This can control the underground pipeline robot to perform efficient detection of the gas pipeline and prevent the situation where the first robot cannot fully cover the first initial detection area due to obstacles. When the first initial detection area cannot fully cover the pipeline due to obstacles, it is re-divided and the path is re-planned. The movement path of the pipeline robot is dynamically controlled, so as to flexibly detect the pipeline, improve and enhance the comprehensive capabilities of the entire gas pipeline network in multiple dimensions such as operation, early warning and emergency response, and greatly reduce the possibility of failures and accidents, the degree of harm caused and the comprehensive cost of daily operation and management.

[0120] S6: Sending 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.

[0121] A remote control system for an underground pipeline robot, applied to any of the remote control methods described above, comprising:

[0122] The area division module is used to obtain the gas pipeline to be inspected and divide it into multiple preliminary inspection areas, and assign a pipeline robot to each preliminary inspection area;

[0123] The information formulation module is used to plan the preliminary detection path of each pipeline robot in the preliminary detection area, formulate the motion information of the pipeline robot based on the preliminary detection path, and collect the internal data of the pipeline in the preliminary detection area based on the motion information;

[0124] A database construction module is used 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 on the remote control terminal;

[0125] A marking module is used to determine and mark pipeline abnormal conditions based on pipeline internal data and pipeline internal environment data. The pipeline abnormal conditions are divided into obstacle conditions and pipeline defect conditions; the location corresponding to the obstacle condition is regarded as the obstacle point;

[0126] The information update module is used to redivide the initial detection area based on the location information of the obstacle point to obtain a sub-divided detection area; re-plan the detection path of the sub-divided detection area to form a target detection path; and formulate the movement information of each pipeline robot inside the gas pipeline based on the target detection path;

[0127] The robot control module sends control instructions to each pipeline robot based on the motion information, and the pipeline robot executes the control instructions corresponding to the motion information in the gas pipeline.

[0128] The present invention divides a pipeline into regions corresponding to multiple robots, employing multiple robots to perform collaborative inspections within the region along corresponding pre-planned paths. By constructing a preset environmental model and the actual environment to determine pipeline abnormalities, the present invention uses the location of an obstacle as an obstacle point when encountering an obstacle, thereby re-dividing the uninspected portion of the pre-inspected region. Multiple pipeline robots are then re-planned within the re-divided pre-inspected region, and the pipeline robots are remotely controlled to inspect the gas pipeline according to the re-planned motion information. Dynamic planning of the inspection path prevents the robots from waiting for extended periods or taking detours, thereby improving inspection efficiency. Remotely controlling the pipeline robots to inspect the gas pipeline according to the re-planned motion information allows staff to accurately determine the robot's motion information, such as speed, direction, and acquisition frequency, based on actual conditions, thereby achieving precise control of the robot. The remote control terminal can monitor the robot's status and position in real time and adjust the robot's action strategy at any time as needed. This allows staff to better understand the inspection progress and results, thereby improving the efficiency and accuracy of remote control.

[0129] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0130] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A remote control method for an underground pipeline robot, characterized in that: The following steps are involved: Obtain the gas pipeline to be inspected and divide it into multiple preliminary inspection areas, and assign a pipeline robot to each preliminary inspection area; Plan the preliminary inspection path for each pipeline robot in the initial inspection area, and formulate the motion information of the pipeline robot based on the preliminary inspection path; Determine the starting point and end point of the pipeline robot according to the initial detection area, and generate multiple path points between the starting point and the end point, wherein each feature point corresponds to a path point, and multiple path points are set between two feature points; Generate a preliminary detection path for the corresponding path points, and determine the movement direction of the pipeline robot at each path point based on the preliminary detection path; Obtain the driving speed of the pipeline robot and the collection range of the collection point, and determine the collection frequency of the collection point based on the collection range and driving speed of the collection point; The motion direction and acquisition frequency are used as motion information corresponding to the pipeline robot; Collect internal data of pipelines in the initial detection area based on motion information; Build 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 on the remote control terminal; Based on the pipeline internal data and pipeline internal environment data, the pipeline abnormal state is determined and marked. The pipeline abnormal state is divided into an obstacle state and a pipeline defect state. The location corresponding to the obstacle state is regarded as the obstacle point. Based on the location information of the obstacle points, the initial detection area is re-divided to obtain a sub-divided detection area; the detection path of the sub-divided detection area is re-planned to form a target detection path; and the motion information of each pipeline robot inside the gas pipeline is formulated based on the target detection path; A control instruction is issued to each pipeline robot according to the motion information, and the pipeline robot executes the control instruction corresponding to the motion information in the gas pipeline.

2. A remote control method for an underground pipeline robot according to claim 1, characterized in that: The step of obtaining the gas pipeline to be inspected and dividing it into a plurality of preliminary inspection areas includes: Obtain a gas pipeline layout model to be inspected, identify and mark pipeline corner points and endpoints in the layout model to obtain feature points; The gas pipeline is divided into regions based on feature points to obtain multiple preliminary detection areas.

3. The remote control method for an underground pipeline robot according to claim 1, characterized in that: The step of collecting the internal data of the pipeline in the initial detection area based on the motion information includes: The position of the pipeline robot in the pipeline of the initial detection area is obtained based on the movement direction in the movement information, and the position passed by the pipeline robot is delineated to obtain the range of image acquisition; Dividing the range of image acquisition into multiple unit intervals, and arranging the multiple unit intervals in sequence; The cameras configured on the pipeline robot are used as collection points in multiple unit intervals. Grasping points are set in the corresponding unit intervals, and the grasping points are bound to the corresponding collection points. The locations where the collection points collect data inside the pipeline are connected to obtain a collection chain, and the corresponding collection points collect images inside the pipeline at the locations where the pipeline robot is located; The image inside the pipeline is matched with the corresponding acquisition chain to obtain the pipeline internal data, wherein the pipeline internal data includes multiple pipeline internal images of corresponding acquisition points.

4. The remote control method for an underground pipeline robot according to claim 1, characterized in that: The steps of setting up a database on the remote control terminal include: Obtain the collection point corresponding to the internal data of the pipeline transmitted to the remote control terminal; Determine the unit interval corresponding to the internal data of the pipeline based on the collection point, and preset the internal environment information of the pipeline for the corresponding unit interval; The internal data of the pipeline and the internal environment information of the pipeline are stored in the database.

5. The 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 internal data of the pipeline and the internal environment data of the pipeline includes: Obtaining pipeline internal data and pipeline internal environment information, and comparing the pipeline internal data with the pipeline internal environment information; The image portion that is different from the internal environment information of the pipeline is extracted through the grasping points, and the adjacent grasping points are connected. The contour of the image portion surrounded by the adjacent grasping points is enhanced to obtain the target image; constructing a three-dimensional model of the target image based on the target image, and determining a target object corresponding to the target image based on the three-dimensional model; Evaluate the fit ratio between the target object and the inner wall of the pipe; The target object corresponding to the fitting ratio exceeding the preset conditions is regarded as a pre-selected abnormal state, and the obstacle state is determined and marked based on the pre-selected abnormal state; The target objects corresponding to the fitting ratio that does not exceed the preset conditions are regarded as pipeline defect states and marked.

6. A remote control method for an underground pipeline robot according to claim 5, characterized in that: The step of determining the obstacle state based on the preselected abnormal state and marking it includes: Obtain pipeline information of the gas pipeline in the initial detection area, and calculate the cross-sectional area of the gas pipeline based on the pipeline information; Extracting the outline of the target object in the three-dimensional model of the target image to obtain the target object contour, and evaluating the proportion of the cross-sectional area occupied by the target object contour; The target contour corresponding to the occupancy ratio exceeding the preset condition is regarded as the obstacle contour, the preselected abnormal state in the target image corresponding to the obstacle contour is regarded as the obstacle state, and the obstacle state is marked; The target object contour corresponding to the occupancy ratio that does not exceed the preset conditions is used as the marked contour, the preselected abnormal state in the target image corresponding to the marked contour is used as the pipeline defect state, and the pipeline defect state is marked.

7. The remote control method for an underground pipeline robot according to claim 1, characterized in that: The step of re-dividing the initial detection area based on the location information of the obstacle point to obtain the re-divided detection area includes: Determine the initial detection area where the location information of the obstacle point is located as the first initial detection area, and use the pipeline robot in the first initial detection area as the first robot; Acquire another primary detection area adjacent to the first primary detection area as a second primary detection area, and use the pipeline robot in the second primary detection area as the second pipeline robot; Integrate the first preliminary detection area and multiple second preliminary detection areas into one detection area, and use the position of the obstacle point as the feature point; Counting the number of the first robot and the second robot to obtain the number of robots; The detection area is re-divided into areas whose number is consistent with the number of robots based on the feature points to obtain a plurality of re-divided detection areas whose number is consistent with the number of robots.

8. A remote control system for an underground pipeline robot, applied to the remote control method according to any one of claims 1 to 7, characterized in that: include: The area division module is used to obtain the gas pipeline to be inspected and divide it into multiple preliminary inspection areas, and assign a pipeline robot to each preliminary inspection area; The information formulation module is used to plan the preliminary detection path of each pipeline robot in the preliminary detection area, formulate the motion information of the pipeline robot based on the preliminary detection path, and collect the internal data of the pipeline in the preliminary detection area based on the motion information; A database construction module is used 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 on the remote control terminal; A marking module is used to determine and mark pipeline abnormal conditions based on pipeline internal data and pipeline internal environment data. The pipeline abnormal conditions are divided into obstacle conditions and pipeline defect conditions; the location corresponding to the obstacle condition is regarded as the obstacle point; The information update module is used to redivide the initial detection area based on the location information of the obstacle point to obtain a sub-divided detection area; re-plan the detection path of the sub-divided detection area to form a target detection path; and formulate the movement information of each pipeline robot inside the gas pipeline based on the target detection path; The robot control module sends control instructions to each pipeline robot based on the motion information, and the pipeline robot executes the control instructions corresponding to the motion information in the gas pipeline.

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