Visual detection method and device for pipeline

• Main Authors: WU ZHUOJUN, FAN XINMING, ZHANG WEIZHONG, GUO GUOWEI, CHEN QIANSHEN, ZENG QINGHUI, LU ZHIXIN, LAI YANSHAN, ZHANG YIN, DONG DI, TANG QI, ZHANG TAO, CHEN XIANXI, SONG ANQI, LIU SHAOHUI, LI XIN, HE ZHIXIANG, LIU HAO, WANG JUNBO, HE SHENGHONG, LIU SONG, LI GUOWEI, JIANG WEI, LIANG NIANBAI, WANG ZHIGANG, CHEN ZHIPING
• Format: Patent
• Language: Chinese; English
• Published: 28.03.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVEREDIN A SINGLE OTHER SUBCLASS; CALCULATING; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; ELECTRIC DIGITAL DATA PROCESSING; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TARIFF METERING APPARATUS; TESTING

The invention discloses a pipeline visual detection method and device, and the method comprises the steps: determining underground pipeline echo signal data and underground pipeline burial depth according to the echo signal amplitude intensity of an echo signal; obtaining target underground pipeline echo signal data by combining a single-channel waveform acquisition moment in the underground pipeline echo signal data and absolute space coordinates acquired by the RTK locator at the single-channel waveform acquisition moment in the underground pipeline echo signal data; determining laser point cloud data at a single-channel waveform acquisition moment, and performing conversion matrix calculation on the laser point cloud data and echo signal data of the target underground pipeline to obtain space absolute coordinates of an overground streetscape object corresponding to the existing position of the underground pipeline; and according to the echo signal data of the target underground pipeline, the laser point cl