Underground network management leakage detection system and method and storage medium

Abstract

The invention provides an underground network pipe leakage detection system and method and a storage medium, and the system comprises a positioning module which is used for determining the initial position of an underground pipeline through an ultrasonic ranging device and detecting the distance between the underground pipeline and an unmanned plane; collecting pipeline characteristic data; the data transmission module is used for transmitting the pipeline feature data, the initial position of the underground pipeline and the distance between the underground pipeline and the unmanned aerial vehicle to the data processing module; the data processing module is used for determining an underground pipeline basic data model according to the pipeline characteristic data and the distance between the underground pipeline and the unmanned aerial vehicle; determining a detection path of the detection module according to the underground pipeline basic data model, the initial position of the underground pipeline and the distance between the underground pipeline and the unmanned aerial vehicle; the detection module is used for acquiring three-dimensional point cloud data of an underground pipeline; acquiring pipeline audio data; and determining whether the pipeline is leaked or not according to the three-dimensional point cloud data of the underground pipeline and the pipeline audio data. The underground detection efficiency can be improved.

Description

Technical Field

[0001] This document relates to the field of geographic information technology, and particularly to an underground network pipe leakage detection system, method, and storage medium. Background Art

[0002] Currently, the pipelines of various industries such as water supply, heating, gas, electricity, communication, and radio and television laid underground in each city, as well as the municipal pipelines such as drainage and roads, are increasing in scale day by day, and the underground pipelines are gradually intertwined and intricate. Moreover, the cost of operation and maintenance of underground pipelines is gradually increasing, and the losses caused by possible failures such as leakage of underground pipelines are also increasing. If the maintenance personnel are not clear about their status, it is easy to have incomplete maintenance. Therefore, the operation and management of underground pipelines are gradually developing towards network management, and the online monitoring of pipeline status has gradually become a trend in the industry development.

[0003] During the operation and maintenance process, it is necessary for the staff to detect and investigate the monitored conditions. For different types of underground pipelines, different detection devices need to be used to carry out the investigation work. For example, for tap water, electricity, communication, etc. above the ground, the pipeline distribution characteristics are detected by equipment to determine their characteristic data. For the detection below the ground, manual excavation and investigation are required.

[0004] The above-mentioned existing technologies have the following defects:

[0005] Currently, the detection of underground pipelines is mainly carried out by staff, which has the problems of large workload, low efficiency, and inaccurate leakage location. When there are abnormalities in underground pipelines, it is necessary for the staff to check one by one, and it is necessary to excavate the investigation points. The engineering volume is large, and the process of inserting the pipeline into the hole is complex and the construction volume is large. For areas with narrow construction space or dangerous areas, the difficulty of entering the hole for investigation is further increased. Summary of the Invention

[0006] In view of the above solutions, the present application aims to provide an underground network pipe leakage detection system, method, and storage medium to solve at least one of the above problems.

[0007] In a first aspect, one or more embodiments of the present application provide an underground network pipe leakage detection system, including: a positioning module, a data processing module, a data transmission module, and a detection module;

[0008] The positioning module is used to obtain the basic data model of the target underground pipeline through positioning technology. The positioning module includes an unmanned aerial vehicle (UAV) flight positioning device, and the UAV flight positioning device includes a UAV, an ultrasonic ranging device, and a laser scanning device;

[0009] The UAV flight positioning device is used to determine the initial position of the underground pipeline through the ultrasonic ranging device and detect the distance between the underground pipeline and the UAV, and the laser scanning device is used to collect pipeline feature data;

[0010] The data transmission module is used to transmit the pipeline feature data, the initial position of the underground pipeline, and the distance between the underground pipeline and the UAV to the data processing module;

[0011] The data processing module is used to determine the basic data model of the underground pipeline according to the pipeline feature data and the distance between the underground pipeline and the UAV; determine the detection path of the detection module according to the basic data model of the underground pipeline, the initial position of the underground pipeline, and the detected distance between the underground pipeline and the UAV;

[0012] The detection module includes a 3D scanner, a pipeline detection device, and a data processing device; the 3D scanner is used to obtain the 3D point cloud data of the underground pipeline; the pipeline detection device is used to obtain pipeline audio data; the data processing device is used to determine whether the pipeline is leaking according to the 3D point cloud data and the pipeline audio data of the underground pipeline.

[0013] Further, the 3D point cloud data at least includes pipe wall pixel point data and pipe hole pixel point data, and the pipe hole pixel point data includes well wall opening positioning point data and pipeline opening positioning point data;

[0014] The data processing device is used to generate a point cloud sequence according to the 3D point cloud data; obtain the position information of the pipe wall pixel point data and the pipe hole pixel point data on the detection path according to the point cloud sequence; determine the pipe wall image of the underground pipeline according to the position information.

[0015] Further, the data processing device is used to match the pipeline audio data with the point cloud sequence to generate an audio-point cloud matching table; determine whether there is a suspected leakage situation according to the pipeline audio data; when it is determined that there is a suspected leakage situation, determine the position where the audio appears in the pipe wall image according to the audio-point cloud matching table; determine whether the pipeline is leaking according to the pipe wall pixel point data and the pipe hole pixel point data in the pipe wall image.

[0016] Further, the data processing device is used to obtain the vibration frequency feature and the vibration amplitude feature from the audio data; determine whether the pipeline is leaking based on the vibration frequency feature and the vibration amplitude feature and a preset audio recognition model.

[0017] Further, the data transmission module includes a wireless communication device.

[0018] Further, the UAV flight positioning device is configured to set the scanning direction of the laser scanning device according to the incident direction and distance of the ultrasonic ranging device.

[0019] Further, the data processing module is configured to determine a reference position according to the initial position of the underground pipeline; determine the flight direction and flight altitude of the UAV according to the reference position and the distance between the underground pipeline and the UAV; and determine the detection path of the detection module according to the underground pipeline basic data model, the flight distance recorded by the UAV, the flight direction and flight altitude of the UAV.

[0020] Further, when there are multiple paths, the data processing module determines the average obstacle height and the variance of the average obstacle height of each path according to the underground pipeline basic data model; and determines the detection path of the detection module according to the average obstacle height and the variance of the average obstacle height.

[0021] In a second aspect, one or more embodiments of the present application provide an underground pipeline leakage detection method, based on the underground pipeline leakage detection system according to any one of the first aspect, including:

[0022] Based on the UAV, obtain the characteristic data of the underground pipeline, the initial position of the underground pipeline, and the distance between the underground pipeline and the UAV;

[0023] Determine an underground pipeline basic data model according to the pipeline characteristic data and the distance between the underground pipeline and the UAV;

[0024] Determine the detection path of the detection module according to the underground pipeline basic data model, the initial position of the underground pipeline, and the detected distance between the underground pipeline and the UAV;

[0025] Based on the detection path, obtain the three-dimensional point cloud data and pipeline audio data of the underground pipeline;

[0026] Determine whether the pipeline is leaking according to the three-dimensional point cloud data and the pipeline audio data of the underground pipeline.

[0027] In a third aspect, an embodiment of the present application provides a storage medium for storing computer-executable instructions, characterized in that the computer-executable instructions, when executed, implement the steps of the underground pipeline leakage detection method according to any one of the first aspect.

[0028] Compared with the prior art, the present application can at least achieve the following technical effects:

[0029] This application uses a drone, an ultrasonic ranging device, and a laser scanning device to determine the distribution state of underground pipelines, enabling the acquisition of the relative positions of underground pipelines and the selection of the entry point, thereby effectively avoiding blindly searching for the entry point when the entry point cannot be determined. This application determines the entry path of the detection device through the basic data model of underground pipelines, thereby improving the detection efficiency. The detection module determines the location of pipeline leakage based on two dimensions: image and sound, thereby improving the accuracy of confirming leakage. Brief Description of the Drawings

[0030] To more clearly illustrate the technical solutions in one or more embodiments of this application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments described in this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0031] Figure 1 Structural schematic diagram of an underground pipeline network leakage detection system provided for one or more embodiments of this application;

[0032] Figure 2 Flowchart of a method for detecting leakage of an underground pipeline network provided for one or more embodiments of this application. Detailed Description of the Embodiments

[0033] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this application, the following will clearly and completely describe the technical solutions in one or more embodiments of this application in conjunction with the drawings in one or more embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, rather than all of them. Based on one or more embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this document.

[0034] An embodiment of this application provides an underground pipeline network leakage detection system, as Figure 1 shown, including: a positioning module 101, a data transmission module 102, a data processing module 103, and a detection module 104;

[0035] The positioning module 101 is used to obtain the basic data model of the target underground pipeline through positioning technology. The positioning module includes a drone flight positioning device, and the drone flight positioning device includes a drone, an ultrasonic ranging device, and a laser scanning device; the drone flight positioning device is used to determine the initial position of the underground pipeline and detect the distance between the underground pipeline and the drone through the ultrasonic ranging device, and the laser scanning device is used to collect pipeline feature data;

[0036] In the embodiments of the present application, the drone is used to carry an ultrasonic ranging device and a laser scanning device and fly near the underground pipeline for data collection. The ultrasonic ranging device measures the distance between the underground pipeline and the drone by transmitting and receiving ultrasonic signals, and helps the drone fly over the pipeline without GPS positioning. The laser scanning device obtains pipeline feature data of the underground pipeline through laser scanning technology. The pipeline feature data includes, but is not limited to, pipe diameter, pipe wall thickness, and relative positional relationship of each pipeline, etc.

[0037] The data transmission module 102 is used to transmit the pipeline feature data, the initial position of the underground pipeline, and the distance between the underground pipeline and the drone to the data processing module.

[0038] In the embodiments of the present application, the data transmission module 102 can be a wireless communication device to ensure effective data transmission underground.

[0039] The data processing module 103 is used to determine the basic data model of the underground pipeline according to the pipeline feature data and the distance between the underground pipeline and the drone. Determine the detection path of the detection module according to the basic data model of the underground pipeline, the initial position of the underground pipeline, and the detected distance between the underground pipeline and the drone.

[0040] In the embodiments of the present application, the basic data model of the underground pipeline is used to display the distribution of the pipelines. The size of the underground pipe network is available. Taking the drone as a reference object and combining the distance between the underground pipeline and the drone, the position of the underground pipeline can be obtained. Then, based on the pipeline feature data, the pipeline is simulated at the corresponding pipeline position, and the entry path of the detection module is determined according to the simulated pipeline.

[0041] The detection module 104 includes a three-dimensional scanner, a pipeline detection device, and a data processing device; the three-dimensional scanner is used to obtain three-dimensional point cloud data of the underground pipeline; the pipeline detection device is used to obtain pipeline audio data; the data processing device is used to determine whether the pipeline is leaking according to the three-dimensional point cloud data and the pipeline audio data of the underground pipeline.

[0042] In the embodiments of the present application, due to the dim light at the bottom line, misjudgment or missed judgment may occur simply relying on images. For example, over time, oxidation, deterioration, or stains may appear on the pipeline surface, and in poor light conditions, it may be misjudged as leaking. Therefore, combining three-dimensional point cloud data and audio data to improve the accuracy of judging the leaking structure.

[0043] In an embodiment of the present application, the three-dimensional point cloud data at least includes pipe wall pixel point data and pipe hole pixel point data, and the pipe hole pixel point data includes well wall opening positioning point data and pipeline opening positioning point data; the data processing device is configured to generate a point cloud sequence according to the three-dimensional point cloud data; obtain the position information of the pipe wall pixel point data and the pipe hole pixel point data on the detection path according to the point cloud sequence; and determine the pipe wall image of the underground pipeline according to the position information.

[0044] Specifically, since the three-dimensional point cloud data is scanned for a surface, and the pipelines in the underground pipe network are scattered, the three-dimensional point cloud data contains the pipe wall images of multiple pipelines. The setting of the detection path is not only to avoid obstacles, but also to design the detection target. Therefore, it is necessary to use the coordinates of the detection path to determine the detection target from the point cloud sequence.

[0045] In an embodiment of the present application, the data processing device is configured to match the pipeline audio data with the point cloud sequence to generate an audio-point cloud matching table; determine whether there is a suspected leakage situation according to the pipeline audio data; when it is determined that there is a suspected leakage situation, determine the position where the audio appears in the pipe wall image according to the audio-point cloud matching table; and determine whether the pipeline is leaking according to the pipe wall pixel point data and the pipe hole pixel point data in the pipe wall image.

[0046] Specifically, in order to quickly locate the leakage point, it is necessary to match the pipeline audio data with the point cloud sequence to generate an audio-point cloud matching table. Since the detection module enters the pipe network as a whole and moves, the relationship curve between the moving distance and time can be obtained. For the audio data, there is a relationship curve between the audio waveform and time; for the point cloud sequence, there are relationship curves between the image and time, and position. Based on the above relationship curves, an audio-point cloud matching table can be established.

[0047] In an embodiment of the present application, the data processing device is configured to obtain vibration frequency characteristics and vibration amplitude characteristics from the audio data; and determine whether the pipeline is leaking based on the vibration frequency characteristics and the vibration amplitude characteristics and a preset audio recognition model.

[0048] Specifically, the greater the pressure difference at the leakage point, the more obvious the acoustic wave amplitude and frequency characteristics. The closer to the leakage point, the greater the acoustic wave amplitude. Therefore, it is possible to determine whether the pipeline is leaking according to the presence or absence of frequency characteristics and the change trend of the acoustic wave amplitude.

[0049] In the embodiment of the present application, the UAV flight positioning device is used to set the scanning direction of the laser scanning device according to the incident direction and distance of the ultrasonic ranging device. Specifically, obtaining the initial incident direction and distance information of the target through the ultrasonic ranging device can provide a spatial positioning reference for the laser scanning device. Since ultrasonic waves have the characteristic of wide beam, the general orientation of the target can be quickly sensed; while the laser scanning device is based on the triangulation ranging method or the phase ranging method, and can achieve high-precision directional measurement by dynamically adjusting the scanning direction. The combination of the two can not only avoid the blindness of laser scanning, but also make up for the defect of large angle deviation of ultrasonic ranging.

[0050] In the embodiment of the present application, the data processing module is used to determine the reference position according to the initial position of the underground pipeline; determine the flight direction and flight height of the UAV according to the reference position and the distance between the underground pipeline and the UAV; and determine the detection path of the detection module according to the underground pipeline basic data model, the flight distance, flight direction and flight height recorded by the UAV.

[0051] Specifically, the initial position is usually the entry position of the UAV. The accurate coordinates of the UAV entry position can usually be obtained in advance, so the coordinates of the pipeline can be deduced by combining the flight direction and flight height of the UAV.

[0052] In the embodiment of the present application, when there are multiple paths, the data processing module determines the average obstacle height and the variance of the average obstacle height of each path according to the underground pipeline basic data model; and determines the detection path of the detection module according to the average obstacle height and the variance of the average obstacle height.

[0053] Specifically, the lower the average obstacle height, the smaller the size of the pipeline that needs to be passed through relatively, and the fewer the number of pipelines. The smaller the variance of the average obstacle height, the smaller the probability of encountering difficult-to-overcome obstacles in the path. When there are multiple paths, by combining the average obstacle height and the variance of the average obstacle height, a suitable path is selected to reduce the difficulty of the detection device entering the underground pipe network.

[0054] The embodiment of the present application provides a method for detecting leakage in an underground pipe network, as Figure 2 shown, including the following steps:

[0055] Step 1: Based on the UAV, obtain the characteristic data of the underground pipeline, the initial position of the underground pipeline, and the distance between the underground pipeline and the UAV.

[0056] Step 2: Determine the underground pipeline basic data model according to the pipeline characteristic data and the distance between the underground pipeline and the UAV.

[0057] Step 3: Determine the detection path of the detection module according to the underground pipeline basic data model, the initial position of the underground pipeline, and the distance between the detected underground pipeline and the UAV.

[0058] Step 4: Based on the detection path, obtain the three-dimensional point cloud data and pipeline audio data of the underground pipeline.

[0059] Step 5: Determine whether the pipeline is leaking according to the three-dimensional point cloud data and pipeline audio data of the underground pipeline.

[0060] The embodiment of the present application provides a storage medium for storing computer-executable instructions, characterized in that the computer-executable instructions, when executed, implement the steps of the underground pipeline leakage detection method described in any one of the embodiments.

[0061] It should be noted that the embodiment of the storage medium in the present application and the embodiment of the underground pipeline leakage detection method in the present application are based on the same inventive concept. Therefore, the specific implementation of this embodiment can refer to the corresponding implementation of the underground pipeline leakage detection method described above, and the repeated parts will not be elaborated.

[0062] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve the desired results. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0063] In the 1930s, it was obvious to distinguish whether an improvement to a technology was a hardware improvement (e.g., improvement to circuit structures such as diodes, transistors, switches, etc.) or a software improvement (improvement to method processes). However, with the development of technology, many improvements to method processes today can be regarded as direct improvements to hardware circuit structures. Almost all designers obtain the corresponding hardware circuit structure by programming the improved method process into the hardware circuit. Therefore, it cannot be said that an improvement to a method process cannot be implemented with a hardware entity module. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logical function is determined by the user programming the device. Designers can program by themselves to "integrate" a digital system on a single PLD, without having to ask a chip manufacturer to design and fabricate a dedicated integrated circuit chip. Moreover, nowadays, instead of manually fabricating integrated circuit chips, this programming is mostly implemented using "logic compiler" software, which is similar to the software compiler used in program development and writing. The original code before compilation also has to be written in a specific programming language, which is called Hardware Description Language (HDL), and there is not only one kind of HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. Currently, the most commonly used are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also be clear that as long as the method process is slightly logically programmed with the above-mentioned several hardware description languages and programmed into the integrated circuit, it is easy to obtain the hardware circuit that implements the logical method process.

[0064] The controller can be implemented in any suitable manner. For example, the controller can take the form of, for example, a microprocessor or a processor and a computer-readable medium storing computer-readable program code (such as software or firmware) executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of the controller include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program code, it is entirely possible to logically program the method steps to enable the controller to be implemented in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, and embedded microcontrollers to achieve the same function. Therefore, such a controller can be considered a hardware component, and the devices included therein for implementing various functions can also be regarded as the structures within the hardware component. Or even, the devices for implementing various functions can be regarded as either software modules for implementing the method or structures within the hardware component.

[0065] The systems, devices, modules, or units illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0066] For the convenience of description, the above devices are described by dividing them into various units according to their functions. Of course, when implementing the embodiments of the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0067] Those skilled in the art should understand that one or more embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, one or more embodiments of the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories, CD-ROMs, optical memories, etc.) containing computer-usable program code.

[0068] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and combinations of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general purpose computers, special purpose computers, embedded processors, or other programmable data processing devices to produce a machine, such that the instructions executed by the processors of the computer or other programmable data processing devices produce means for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0069] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means that implement the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0070] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the Figure 1 one or more flows and / or blocks Figure 1 one or more blocks.

[0071] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and a memory.

[0072] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash RAM. The memory is an example of computer-readable media.

[0073] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0074] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0075] One or more embodiments of the present application may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. One or more embodiments of the present application may also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0076] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0077] The above are only examples of this document and are not intended to limit this document. For those skilled in the art, this document may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this document shall be included within the scope of the claims of this document.

Claims

1. An underground network pipe leakage detection system, characterized in that, Including: A positioning module, a data processing module, a data transmission module, and a detection module; The positioning module is used to obtain the basic data model of the target underground pipeline through positioning technology. The positioning module includes a drone flight positioning device, and the drone flight positioning device includes a drone, an ultrasonic ranging device, and a laser scanning device; The drone flight positioning device is used to determine the initial position of the underground pipeline and detect the distance between the underground pipeline and the drone through the ultrasonic ranging device. The laser scanning device is used to collect pipeline feature data; The data transmission module is used to transmit the pipeline feature data, the initial position of the underground pipeline, and the distance between the underground pipeline and the drone to the data processing module; The data processing module is used to determine the basic data model of the underground pipeline according to the pipeline feature data and the distance between the underground pipeline and the drone; determine the detection path of the detection module according to the basic data model of the underground pipeline, the initial position of the underground pipeline, and the detected distance between the underground pipeline and the drone; The detection module includes a 3D scanner, pipeline detection equipment, and data processing equipment; The 3D scanner is used to obtain the 3D point cloud data of the underground pipeline; The pipeline detection equipment is used to obtain pipeline audio data; the data processing equipment is used to determine whether the pipeline is leaking according to the 3D point cloud data and the pipeline audio data of the underground pipeline.

2. The system according to claim 1, wherein The 3D point cloud data at least includes wall pixel point data and pipe hole pixel point data, and the pipe hole pixel point data includes well wall opening positioning point data and pipeline opening positioning point data; The data processing equipment is used to generate a point cloud sequence according to the 3D point cloud data; obtain the position information of the wall pixel point data and the pipe hole pixel point data on the detection path according to the point cloud sequence; determine the wall image of the underground pipeline according to the position information.

3. The system according to claim 2, wherein The data processing equipment is used to match the pipeline audio data with the point cloud sequence to generate an audio-point cloud matching table; determine whether there is a suspected leakage situation according to the pipeline audio data; when it is determined that there is a suspected leakage situation, determine the position where the audio appears in the wall image according to the audio-point cloud matching table; Determine whether the pipeline is leaking according to the wall pixel point data and the pipe hole pixel point data in the wall image.

4. The system according to claim 3, wherein The data processing equipment is used to obtain vibration frequency characteristics and vibration amplitude characteristics from the audio data; determine whether the pipeline is leaking based on a preset audio recognition model according to the vibration frequency characteristics and the vibration amplitude characteristics.

5. The system according to claim 1, wherein The data transmission module includes wireless communication equipment.

6. The system according to claim 1, wherein The drone flight positioning device is used to set the scanning direction of the laser scanning device according to the incident direction and distance of the ultrasonic ranging device.

7. The system according to claim 1, wherein: the data processing module is configured to determine a reference position according to the initial position of the underground pipeline; determine the flight direction and flight altitude of the drone according to the reference position and the distance between the underground pipeline and the drone; and determine the detection path of the detection module according to the underground pipeline basic data model, the flight distance recorded by the drone, the flight direction and the flight altitude of the drone.

8. The underground pipeline leakage detection system according to claim 1, wherein: when there are multiple paths, the data processing module determines the average obstacle height and the variance of the average obstacle height of each path according to the underground pipeline basic data model; and determines the detection path of the detection module according to the average obstacle height and the variance of the average obstacle height.

9. A method for detecting leakage in underground network pipes, based on the underground network pipe leakage detection system according to any one of claims 1-8, characterized in that, Comprising: acquiring, based on a drone, characteristic data of an underground pipeline, an initial position of the underground pipeline, and a distance between the underground pipeline and the drone; determining an underground pipeline basic data model according to the pipeline characteristic data and the distance between the underground pipeline and the drone; determining a detection path of the detection module according to the underground pipeline basic data model, the initial position of the underground pipeline, and the detected distance between the underground pipeline and the drone; acquiring three-dimensional point cloud data and pipeline audio data of the underground pipeline based on the detection path; determining whether the pipeline is leaking according to the three-dimensional point cloud data and the pipeline audio data of the underground pipeline.

10. A storage medium for storing computer-executable instructions, characterized in that, The computer-executable instructions, when executed, implement the steps of the underground pipeline leakage detection method according to claim 9.

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