CN109458565A - A kind of urban underground water drainage pipe road profession detection method - Google Patents
A kind of urban underground water drainage pipe road profession detection method Download PDFInfo
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- CN109458565A CN109458565A CN201811341026.7A CN201811341026A CN109458565A CN 109458565 A CN109458565 A CN 109458565A CN 201811341026 A CN201811341026 A CN 201811341026A CN 109458565 A CN109458565 A CN 109458565A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Geophysics And Detection Of Objects (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of urban underground water drainage pipe road profession detection methods, the duct size information including obtaining drainage pipeline to be measured, wherein duct size information includes at least line distribution information and pipe diameter information；Based on line distribution information, the Preliminary detection image of drainage pipeline to be measured is obtained using the video detection module of detecting robot of pipe；Preliminary detection image is handled, the suspected malfunctions location information of drainage pipeline to be measured is extracted；Suspected malfunctions position is further detected using the video detection module of detecting robot of pipe, sonar detection module and apart from detection module, obtains the testing result at suspected malfunctions position.The present invention can carry out simultaneously video detection to pipe under test and sonar detects, and easy to detect quick, time saving and energy saving, work efficiency is high, can position the same fault point by video detection module and sonar detection module simultaneously.
Description
Technical field
The present invention relates to pipeline inspection technology field more particularly to a kind of urban underground water drainage pipe road profession detection methods.
Background technique
Urban discharging pipeline is the important channel for excluding municipal sewage and rainwater, criss-cross subsoil drain in city
Road is a kind of particularly important urban operating mechanism, or even as the infrastructure of urban stability development, normal operation is to ensure city
The important guarantee of city's production and living normal order.Since urban Underground pipeline internal environment is severe, pipeline is easy to appear brokenly
The pipeline faults such as damage, leakage or blocking, influence the proper drainage function of urban Underground pipeline, to influence the production of city people
And life.In consideration of it, periodically detecting to urban underground water drainage pipe road, every skill of drainage pipeline and its internal environment is detected
Art parameter, to find the problem in time, it is very important for progress maintenance in time.
However, being observed according to traditional periscope mode, then for having the case where certain depth of water inside drainage pipeline
Camera lens shooting can due to by influence on water body cisco unity malfunction or shooting effect it is poor.And the detection mode of CCTV is used then to need
The means such as carrying out water blockoff, cut off the water ensures that water level is the 1/3 or less of caliber in pipe.Water blockoff, the means such as cut off the water both had increased detection
Workload and the working time, can also affect to normal production work.
In development in recent years, carried out when also occurring successively by external introduction and much have water for drainage pipeline
Ultrasonic detection equipment is concentrated mainly on the introduction and absorption of ultrasonic detection equipment.This kind of ultrasonic device is in having water drainage pipeline
Can be using water body as the medium of transonic, the ultrasonic signal for receiving passback is analyzed, and the mould of drainage pipeline is finally drawn out
Intend cross-sectional view to show position and the depth of drainage pipeline internal flaw.
Pipeline sonar can be detected pipeline internal state without draining pipeline liquid, be the strong benefit to CCTV detection means
It fills.But this two sets of equipment currently on the market, it is all independent exclusive use.It is very inconvenient in this way, two sets of equipment cost prices
Height, and it is arranged back-up batch construction using two, time and effort consuming is constructed cumbersome, and labor intensity of workers is big.In addition, two kinds of detection devices
Testing result cannot position a fault point simultaneously.
Summary of the invention
The present invention is directed at least solve the technical problems existing in the prior art, with especially innovatively proposing a kind of city
Lower drainage pipe profession detection method, efficiently solves video detection in the prior art and sonar two kinds of detection devices of detection are all
It is used alone, when detection needs successively to construct using two sets equipment, and operation is extremely inconvenient, and time and effort consuming, working efficiency is low, and two
The problem of testing result of kind detection device cannot position the same fault point simultaneously.
In order to realize above-mentioned purpose of the invention, the present invention provides a kind of urban underground water drainage pipe road profession detection sides
Method, described method includes following steps:
S1 obtains the duct size information of drainage pipeline to be measured, wherein the duct size information includes at least line distribution information and pipeline
Caliber information；
S2 is based on the line distribution information, obtains drainage pipeline to be measured using the video detection module of detecting robot of pipe
Preliminary detection image；
S3 handles the Preliminary detection image, extracts the suspected malfunctions location information of drainage pipeline to be measured；
S4, using the video detection module of the detecting robot of pipe, sonar detection module and apart from detection module to doubtful
Trouble location is further detected, and the testing result at the suspected malfunctions position is obtained.
Preferably, the detecting robot of pipe includes car body, and the car body two sides, which are symmetrically arranged with to rotate with car body, to be connected
The wheel or Athey wheel connect, the vehicle body are provided with the driving mechanism for driving the wheel or Athey wheel movement, institute
It states and is provided with telescopic elastic supporting mechanism on the top plate of car body, the wheel or Athey wheel of the car body two sides and the elasticity
Supporting mechanism, which forms one, to be made to detect the triangular support configurations that machine is adaptively supported in drainage pipeline inner wall, the top plate of the car body
Left end is provided with telescopic rotated detection mechanism, and the rotated detection mechanism includes the video detection module and the sonar
Detection module.
Preferably, the elastic supporting mechanism include the first support base, the first telescopic device, the first hoistable platform, spring,
Pulley mounting plate and the pulley for being mounted on the pulley mounting plate two sides, first support base are fixed on the top plate of the car body
On the outer wall at middle part, the lower end of first telescopic device is fixed on the top of first support base, the described first flexible dress
The upper end set and the bottom plate of first hoistable platform are affixed, and the top plate of one end of the spring and first hoistable platform is solid
It connects, the other end of the spring and the bottom of the pulley mounting plate are affixed.
Preferably, the right end of the pulley mounting plate is provided with described apart from detection module.
Preferably, the rotated detection mechanism further includes the second support base, the second telescopic device, the second hoistable platform, electricity
Machine, first rotating shaft, the second shaft and support column, second support base are fixed on the outer wall of top plate left end of the car body,
The lower end of second telescopic device is fixed on the top of second support base, the upper end of second telescopic device with it is described
The bottom plate of second hoistable platform is affixed, and the motor is fixed on the top plate right end of second hoistable platform, the first rotating shaft
Right end connect the motor, the driving gear of the first rotating shaft left end and the driven gear of the second shaft right end are nibbled
It closes, the right end of second shaft is fixed with testing agency's mounting plate, and provided beside has described on testing agency's mounting plate
Video detection module and the sonar detection module, the upper end of the support column are equipped with the branch of the outer wall around second shaft
Pushing out ring, the lower end of the support column and the top plate of the car body are affixed.
Preferably, the step S4 includes the following steps:
S41 obtains the pipeline top at the suspected malfunctions position to the range information of liquid level apart from detection module by described；
S42, range information and the pipe diameter information based on pipeline top to liquid level determine liquid level position information；
S43 obtains the inner wall of the pipe image of the liquid level position at the suspected malfunctions position or more by the video detection module
Information, and noise reduction process is decoded and filtered to the inner wall of the pipe image information；
S44, the liquid level position pipeline inside sound wave below that the suspected malfunctions position is obtained by the sonar detection module
Information, and noise reduction process is decoded and filtered to information of acoustic wave inside the pipeline；
S45, by the inner wall of the pipe image information and decoding and filtering drop after the liquid level position information, decoding and filtering noise reduction
Information of acoustic wave is mapped to using the cross-section of pipeline center of circle at the suspected malfunctions position as the straight of coordinate origin inside pipeline after making an uproar
In angular coordinate system；
S46, in the rectangular coordinate system to it is described decoding and filtering noise reduction after inner wall of the pipe image information and decoding and
Information of acoustic wave is overlapped inside pipeline after filtering noise reduction, obtains the integral conduit image information at the suspected malfunctions position；
S47 is analyzed and processed the integral conduit image information, obtains the testing result at the suspected malfunctions position.
Preferably, the step S43 includes the following steps:
S43-1 controls the rotated detection mechanism and stretches, while rotating the second shaft, so that the video detection module
Real-time image information in the pipeline of the liquid level position at the suspected malfunctions position or more can be got；
S43-2, real-time image information in the pipeline is corresponding to being with the cross-section of pipeline center of circle at the suspected malfunctions position
In the rectangular coordinate system of coordinate origin and encoding compression processing is carried out, obtains the inner wall of the pipe image information；
S43-3 is decoded and filters noise reduction process to the inner wall of the pipe image information.
Preferably, the step S44 includes the following steps:
S44-1 controls the rotated detection mechanism and stretches, while rotating the second shaft, passes through the sonar detection module
Liquid level position pipeline below around the suspected malfunctions position emits ultrasonic signal, and receives reflected ultrasonic wave
Signal；
S44-2 obtains pipeline sound wave average information according to the ultrasonic signal of transmitting and reflected ultrasonic signal；
S44-3, the pipeline sound wave average information is corresponding to using the cross-section of pipeline center of circle at the suspected malfunctions position as pole
In the polar coordinate system of point and encoding compression processing is carried out, generates information of acoustic wave inside pipeline；
S44-4 is decoded and filters noise reduction process to information of acoustic wave inside the pipeline.
Preferably, the method also includes following steps:
S5 shows the testing result.
Preferably, the method also includes following steps:
S6 generates examining report based on the testing result.
As it can be seen from the above scheme the present invention provides a kind of urban underground water drainage pipe road profession detection method, including S1, it obtains
Take the duct size information of drainage pipeline to be measured, wherein the duct size information includes at least line distribution information and pipe diameter information；
S2 is based on the line distribution information, obtains the first of drainage pipeline to be measured using the video detection module of detecting robot of pipe
Walk detection image；S3 handles the Preliminary detection image, extracts the suspected malfunctions location information of drainage pipeline to be measured；
S4, using the video detection module of the detecting robot of pipe, sonar detection module and apart from detection module to suspected malfunctions
Position is further detected, and the testing result at the suspected malfunctions position is obtained.The present invention can to pipe under test simultaneously into
Row video detection and sonar detection, easy to detect quick, time saving and energy saving, work efficiency is high, can pass through video detection module simultaneously
The same fault point is positioned with sonar detection module, video detection in the prior art is efficiently solved and sonar detects two kinds of detections
Equipment is all single use, and when detection needs successively to construct using two sets equipment, operates extremely inconvenient, time and effort consuming, and work is imitated
The problem of rate is low, and the testing result of two kinds of detection devices cannot position the same fault point simultaneously.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is a kind of flow diagram of urban underground water drainage pipe road profession detection method of the present invention；
Fig. 2 is the structural schematic diagram of detecting robot of pipe in a kind of urban underground water drainage pipe road profession detection method of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " longitudinal direction ", " transverse direction ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
In the description of the present invention, unless otherwise specified and limited, it should be noted that term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, the connection being also possible to inside two elements can
, can also indirectly connected through an intermediary, for the ordinary skill in the art to be to be connected directly, it can basis
Concrete condition understands the concrete meaning of above-mentioned term.
The present invention provides a kind of urban underground water drainage pipe road profession detection methods, as shown in Figure 1 and Figure 2, the method packet
Include following steps:
S1 obtains the duct size information of drainage pipeline to be measured, wherein duct size information includes at least line distribution information and pipe diameter
Information；
When being detected to urban underground water drainage pipe road, it is necessary first to collect the duct size information of drainage pipeline to be measured, such as to
Line distribution information, the pipe diameter information etc. of drainage pipeline are surveyed, pipe diameter information includes internal diameter of the pipeline and outer diameter tube.Tool
Body can collect technical references or the drainings such as existing drainpipe detecting data, the as-built drawing of drainage pipeline or construction drawing
Technology evaluation data of pipeline etc., collected the landform that can also be watched by reconnaissance trip after related data around area to be measured,
Landforms, traffic and drainage pipeline distribution situation drive a well visually or utilize tool to check the water level of drainage pipeline, deposition situation, or
Check the basic informations such as pipe position, caliber and the material in gathering information.
S2 is based on line distribution information, obtains drainpipe to be measured using the video detection module 41 of detecting robot of pipe
The Preliminary detection image in road；
After getting the duct size information of pipe under test, then according to the line distribution information in duct size information, drainpipe to be measured is determined
The position in road and trend utilize what can be detected simultaneously by video detection technology and sonar detection technique to pipe under test
The video detection module 41 of detecting robot of pipe obtains the Preliminary detection image of drainage pipeline to be measured.
S3 handles Preliminary detection image, extracts the suspected malfunctions location information of drainage pipeline to be measured；
After the Preliminary detection image for getting drainage pipeline to be measured by video detection module 41, then to the Preliminary detection image into
The row filtering processing such as noise reduction and feature extraction, then feature is carried out to the pipeline fault picture accessed in the feature and database of extraction
It compares, so that it is determined that the suspected malfunctions location information of drainage pipeline to be measured, wherein suspected malfunctions location information may include failure
Position picture, trouble location specific location and failure mode etc..
S4, using the video detection module 41 of detecting robot of pipe, sonar detection module 42 and apart from detection module 37
Suspected malfunctions position is further detected, the testing result at suspected malfunctions position is obtained.
After determining suspected malfunctions location information, by the way that video detection technology and sonar detection technique pair can be passed through simultaneously
The detecting robot of pipe that pipe under test is detected obtains water surface site apart from detection module 37, passes through video detection module
41 obtain the pipeline image of water surface above section, and the pipeline sound wave of the water surface or less part is obtained by sonar detection module 42
Image, then by water surface site, water surface above section pipeline image and the water surface below part pipeline sound wave image be decoded,
The methods of mapping and superposition are handled, to obtain the testing result at suspected malfunctions position.
As it can be seen from the above scheme the present invention provides a kind of urban underground water drainage pipe road profession detection method, including S1, it obtains
Take the duct size information of drainage pipeline to be measured, wherein duct size information includes at least line distribution information and pipe diameter information；S2,
Based on line distribution information, the Preliminary detection of drainage pipeline to be measured is obtained using the video detection module 41 of detecting robot of pipe
Image；S3 handles Preliminary detection image, extracts the suspected malfunctions location information of drainage pipeline to be measured；S4 utilizes pipeline
Detect the video detection module 41 of robot, sonar detection module 42 and apart from detection module 37 to suspected malfunctions position carry out into
The detection of one step, obtains the testing result at suspected malfunctions position.The present invention can carry out simultaneously video detection harmony to pipe under test
Detection, easy to detect quick, time saving and energy saving, work efficiency is high, can detect mould by video detection module 41 and sonar simultaneously
Block 42 positions the same fault point, and it is all single for efficiently solving video detection in the prior art and sonar two kinds of detection devices of detection
It solely uses, when detection needs successively to construct using two sets equipment, and operation is extremely inconvenient, and time and effort consuming, working efficiency is low, and two kinds
The testing result of detection device cannot position the problem of same fault point simultaneously.
In the present embodiment, step S4 includes the following steps:
S41, by obtaining the pipeline top at suspected malfunctions position apart from detection module 37 to the range information of liquid level；
S42, range information and pipe diameter information based on pipeline top to liquid level determine liquid level position information；
S43 obtains the inner wall of the pipe image information of the liquid level position at suspected malfunctions position or more by video detection module 41, and
Inner wall of the pipe image information is decoded and is filtered noise reduction process；
S44, the liquid level position pipeline inside information of acoustic wave below that suspected malfunctions position is obtained by sonar detection module 42, and
Noise reduction process is decoded and filtered to pipeline inside information of acoustic wave；
S45, by the inner wall of the pipe image information and decoding after liquid level position information, decoding and filtering noise reduction and after filtering noise reduction
Pipeline inside information of acoustic wave map to using the cross-section of pipeline center of circle at suspected malfunctions position as the rectangular coordinate system of coordinate origin
In；
S46, to the inner wall of the pipe image information and decoding and filtering noise reduction after decoding and filtering noise reduction in rectangular coordinate system
Information of acoustic wave is overlapped inside pipeline afterwards, obtains the integral conduit image information at suspected malfunctions position；
S47 is analyzed and processed integral conduit image information, obtains the testing result at suspected malfunctions position.
In the present embodiment, step S43 includes the following steps:
S43-1, control rotated detection mechanism stretches, while rotating the second shaft, so that video detection module 41 can obtain
Get real-time image information in the pipeline of the liquid level position at suspected malfunctions position or more；
S43-2, real-time image information in pipeline is corresponding to using the cross-section of pipeline center of circle at suspected malfunctions position as coordinate origin
Rectangular coordinate system in and carry out encoding compression processing, obtain inner wall of the pipe image information；
S43-3 is decoded and filters noise reduction process to inner wall of the pipe image information.
In the present embodiment, step S44 includes the following steps:
S44-1, control rotated detection mechanism stretches, while rotating the second shaft, by sonar detection module 42 around doubtful
Emit ultrasonic signal like the liquid level position pipeline below of trouble location, and receives reflected ultrasonic signal；
S44-2 obtains pipeline sound wave average information according to the ultrasonic signal of transmitting and reflected ultrasonic signal；
S44-3, pipeline sound wave average information is corresponding to using the cross-section of pipeline center of circle at suspected malfunctions position as the pole of pole seat
In mark system and encoding compression processing is carried out, generates information of acoustic wave inside pipeline；
S44-4 is decoded and filters noise reduction process to pipeline inside information of acoustic wave.
In the present embodiment, the method also includes following steps:
S5 shows testing result.
After obtaining testing result, it can according to need the external display device by connecting with pipe robot and detection tied
Fruit is intuitively shown.
In the present embodiment, the method also includes following steps:
S6 generates examining report based on testing result.
After obtaining testing result, inspection can also be generated as desired by the external processing apparatus connecting with pipe robot
Observe and predict announcement, it is preferable that report can also be will test by printing device and printed.
In the present embodiment, as shown in Fig. 2, detecting robot of pipe includes car body 1,1 two sides of car body are symmetrically arranged with
The wheel 2 being rotatablely connected with car body 1, car body 1 are internally provided with for driving wheel 2 to take turns mobile driving mechanism, the top of car body 1
Telescopic elastic supporting mechanism 3 is provided on plate, the wheel 2 or Athey wheel and elastic supporting mechanism 3 of 1 two sides of car body form one
Make to detect the triangular support configurations that machine is adaptively supported in drainage pipeline inner wall, the top plate left end of car body 1 is provided with scalable
Rotated detection mechanism 4, rotated detection mechanism 4 include video detection module 41 and sonar detection module 42.Specifically, wheel 2
Athey wheel can be used to be replaced, advanced using wheel, light and flexible, and Athey wheel is then advanced steadily, cross-country power is strong.
Preferably, elastic supporting mechanism 3 includes the first support base 31, the first telescopic device 32, the first hoistable platform 33, bullet
Spring 34, pulley mounting plate 35 and the pulley 36 for being mounted on 35 two sides of pulley mounting plate, the first support base 31 are fixed on the top of car body 1
On outer wall in the middle part of plate, the lower end of the first telescopic device 32 is fixed on the top of the first support base 31, the first telescopic device 32
Upper end and the bottom plate of the first hoistable platform 33 are affixed, and one end of spring 34 and the top plate of the first hoistable platform 33 are affixed, spring 34
The other end and pulley mounting plate 35 bottom it is affixed.By the flexible of the first telescopic device 32, so that detecting robot of pipe
It can adapt to the pipe detection work of different tube diameters, elastic supporting mechanism 3 is supported in the inner wall top of pipe under test, with two sides vehicle
The triangular support configurations that the detection machine that wheel 2 is formed adaptively is supported in drainage pipeline inner wall can enhance detecting robot of pipe
Stability, avoid it from tumbling, in addition, by the elastic buffer of spring 34 damping can be carried out to detecting robot of pipe, from
And keeping detecting robot of pipe traveling more stable, the image data of acquisition is apparent.
Preferably, the right end of pulley mounting plate 35 is provided with apart from detection module 37.By can be with apart from detection module 37
Obtain pipe under test top to the water surface distance, so that it is determined that the position of the water surface.It can be infrared distance apart from detection module to pass
Sensor or ultrasonic distance sensor.
Preferably, rotated detection mechanism 4 further include the second support base 43, the second telescopic device 44, the second hoistable platform 45,
Motor 46, first rotating shaft 47, the second shaft 48 and support column 49, the second support base 43 are fixed on the outer of the top plate left end of car body 1
On wall, the lower end of the second telescopic device 44 is fixed on the top of the second support base 43, the upper end and second of the second telescopic device 44
The bottom plate of hoistable platform 45 is affixed, and motor 46 is fixed on the top plate right end of the second hoistable platform 45, and the right end of first rotating shaft 47 connects
Motor 46 is connect, the driving gear 47-1 of 47 left end of first rotating shaft is engaged with the driven gear 48-1 of 48 right end of the second shaft, and second
The right end of shaft 48 is fixed with testing agency's mounting plate 410, and provided beside has video detection module on testing agency's mounting plate 410
41 and sonar detection module 42, the upper end of support column 49 is equipped with the support ring 49-1 of the outer wall around the second shaft 48, support column
49 lower end and the top plate of car body 1 are affixed.The second shaft rotation 48 is driven by motor 46, while passing through the second telescopic device 44
It is flexible, video detection module 41 and sonar detection module 42 are rotated 360 ° as needed in water surface site,
Obtain the pipe video information and water surface site pipeline information of acoustic wave below of water surface site or more.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (10)
1. a kind of urban underground water drainage pipe road profession detection method, which comprises the steps of:
S1 obtains the duct size information of drainage pipeline to be measured, wherein the duct size information includes at least line distribution information and pipeline
Caliber information；
S2 is based on the line distribution information, obtains drainage pipeline to be measured using the video detection module of detecting robot of pipe
Preliminary detection image；
S3 handles the Preliminary detection image, extracts the suspected malfunctions location information of drainage pipeline to be measured；
S4, using the video detection module of the detecting robot of pipe, sonar detection module and apart from detection module to doubtful
Trouble location is further detected, and the testing result at the suspected malfunctions position is obtained.
2. urban underground water drainage pipe road profession detection method according to claim 1, which is characterized in that the pipe detection
Robot includes car body, and the car body two sides are symmetrically arranged with wheel or Athey wheel with car body rotation connection, in the car body
Portion is provided with the driving mechanism for driving the wheel or Athey wheel movement, is provided on the top plate of the car body telescopic
Elastic supporting mechanism, the wheel or Athey wheel and the elastic supporting mechanism of the car body two sides, which form one, keeps detection machine adaptive
The triangular support configurations of drainage pipeline inner wall should be supported in, the top plate left end of the car body is provided with telescopic rotated detection machine
Structure, the rotated detection mechanism include the video detection module and the sonar detection module.
3. urban underground water drainage pipe road profession detection method according to claim 2, which is characterized in that
The elastic supporting mechanism includes the first support base, the first telescopic device, the first hoistable platform, spring, pulley mounting plate
With the pulley for being mounted on the pulley mounting plate two sides, first support base is fixed on the outer wall in the middle part of the top plate of the car body
On, the lower end of first telescopic device is fixed on the top of first support base, the upper end of first telescopic device with
The bottom plate of first hoistable platform is affixed, and one end of the spring and the top plate of first hoistable platform are affixed, the bullet
The other end of spring and the bottom of the pulley mounting plate are affixed.
4. urban underground water drainage pipe road profession detection method according to claim 3, which is characterized in that the pulley installation
The right end of plate is provided with described apart from detection module.
5. urban underground water drainage pipe road profession detection method according to claim 2, which is characterized in that the rotated detection
Mechanism further includes the second support base, the second telescopic device, the second hoistable platform, motor, first rotating shaft, the second shaft and support
Column, second support base are fixed on the outer wall of top plate left end of the car body, and the lower end of second telescopic device is fixed
On the top of second support base, the upper end of second telescopic device and the bottom plate of second hoistable platform are affixed, institute
State the top plate right end that motor is fixed on second hoistable platform, the right end of the first rotating shaft connects the motor, and described the
The driving gear of one shaft left end is engaged with the driven gear of the second shaft right end, and the right end of second shaft is fixed with
Testing agency's mounting plate, provided beside has the video detection module and sonar detection mould on testing agency's mounting plate
Block, the upper end of the support column are equipped with the support ring of the outer wall around second shaft, the lower end of the support column with it is described
The top plate of car body is affixed.
6. urban underground water drainage pipe road profession detection method according to claim 4, which is characterized in that the step S4 packet
Include following steps:
S41 obtains the pipeline top at the suspected malfunctions position to the range information of liquid level apart from detection module by described；
S42, range information and the pipe diameter information based on pipeline top to liquid level determine liquid level position information；
S43 obtains the inner wall of the pipe image of the liquid level position at the suspected malfunctions position or more by the video detection module
Information, and noise reduction process is decoded and filtered to the inner wall of the pipe image information；
S44, the liquid level position pipeline inside sound wave below that the suspected malfunctions position is obtained by the sonar detection module
Information, and noise reduction process is decoded and filtered to information of acoustic wave inside the pipeline；
S45, by the inner wall of the pipe image information and decoding and filtering drop after the liquid level position information, decoding and filtering noise reduction
Information of acoustic wave is mapped to using the cross-section of pipeline center of circle at the suspected malfunctions position as the straight of coordinate origin inside pipeline after making an uproar
In angular coordinate system；
S46, in the rectangular coordinate system to it is described decoding and filtering noise reduction after inner wall of the pipe image information and decoding and
Information of acoustic wave is overlapped inside pipeline after filtering noise reduction, obtains the integral conduit image information at the suspected malfunctions position；
S47 is analyzed and processed the integral conduit image information, obtains the testing result at the suspected malfunctions position.
7. urban underground water drainage pipe road profession detection method according to claim 6, which is characterized in that the step S43
Include the following steps:
S43-1 controls the rotated detection mechanism and stretches, while rotating the second shaft, so that the video detection module
Real-time image information in the pipeline of the liquid level position at the suspected malfunctions position or more can be got；
S43-2, real-time image information in the pipeline is corresponding to being with the cross-section of pipeline center of circle at the suspected malfunctions position
In the rectangular coordinate system of coordinate origin and encoding compression processing is carried out, obtains the inner wall of the pipe image information；
S43-3 is decoded and filters noise reduction process to the inner wall of the pipe image information.
8. urban underground water drainage pipe road profession detection method according to claim 6, which is characterized in that the step S44
Include the following steps:
S44-1 controls the rotated detection mechanism and stretches, while rotating the second shaft, passes through the sonar detection module
Liquid level position pipeline below around the suspected malfunctions position emits ultrasonic signal, and receives reflected ultrasonic wave
Signal；
S44-2 obtains pipeline sound wave average information according to the ultrasonic signal of transmitting and reflected ultrasonic signal；
S44-3, the pipeline sound wave average information is corresponding to using the cross-section of pipeline center of circle at the suspected malfunctions position as pole
In the polar coordinate system of point and encoding compression processing is carried out, generates information of acoustic wave inside pipeline；
S44-4 is decoded and filters noise reduction process to information of acoustic wave inside the pipeline.
9. urban underground water drainage pipe road profession detection method according to any one of claims 1 to 8, which is characterized in that institute
The method of stating further includes following steps:
S5 shows the testing result.
10. urban underground water drainage pipe road profession detection method according to any one of claims 1 to 8, which is characterized in that
The method also includes following steps:
S6 generates examining report based on the testing result.
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Application publication date: 20190312 |