Pipeline abnormal state identification and positioning method and inspection robot thereof

By constructing a global map of coal mine roadways and using a neural network model to identify the spatial relationship between pipeline target areas and surface areas, the problem of identifying and locating abnormal postures of underground pipelines in coal mines has been solved, achieving highly accurate and efficient anomaly detection and location.

CN121982106APending Publication Date: 2026-05-05XIAN UNIV OF SCI & TECH
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Patent Information

Application Number
CN202610462403.0
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-04-09
Publication Date
2026-05-05

AI Technical Summary

Technical Problem

Existing technologies are insufficient to effectively identify and locate structural anomalies such as fallen, tilted, or drooping pipelines in underground coal mines. In particular, under complex working conditions, the identification effect is poor, the accuracy is insufficient, and the false detection and missed detection rates are high.

Method used

Construct a global map of coal mine roadways, establish the coordinate correspondence between image acquisition locations and the global map, acquire and denoise pipeline images, use a neural network model to identify pipeline target areas and their spatial relationship with the ground area, combine geometric features to identify posture anomalies, and locate abnormal pipelines in the global map.

Benefits of technology

It improves the accuracy and location of abnormal pipeline postures in coal mines, reduces the risk of false detection and missed detection, and enhances inspection efficiency and fault handling efficiency.

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Abstract

The invention discloses a pipeline abnormal state recognition and positioning method and an inspection robot thereof, relates to the technical field of machine vision recognition, and can solve the problems of low recognition precision and high false detection and omission ratio of structural posture abnormity such as falling, inclination and hanging drooping of an underground coal mine pipeline in the prior art. The pipeline abnormal state identification and positioning method comprises the following steps: S1, constructing a global map of a coal mine tunnel, and establishing a coordinate corresponding relation between an image acquisition position and the global map; s2, acquiring a pipeline image in the roadway and position information corresponding to the pipeline image, and performing noise reduction processing on the pipeline image to obtain a to-be-identified image; s3, judging whether the pipeline is in an abnormal posture state or not, and outputting a pipeline abnormity recognition result; and S4, according to the position information corresponding to the pipeline abnormity identification result, completing the positioning of the abnormal pipeline.
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