04-06-2020 дата публикации
Номер: US20200177805A1
Автор:
Qingquan LI,
Jiasong ZHU,
Chisheng WANG,
Zhipeng CHEN,
LI QINGQUAN,
ZHU JIASONG,
WANG CHISHENG,
CHEN ZHIPENG,
LI, Qingquan,
ZHU, Jiasong,
WANG, Chisheng,
CHEN, Zhipeng
A method including: putting a pre-set detection apparatus in a pipeline to be detected, collecting, every pre-set time, movement information about and pipeline image thereof; at each collection moment, calculating, according to movement information collected, first position where detection apparatus is located; calculating, according to pipeline image photographed, second position where detection apparatus is located; determining, according to first position and second position, position where detection apparatus is located so as to position pipeline according to position at each collection moment. By performing position information extraction by means of inertial navigation and video combined positioning algorithm, accurate positioning of pipeline position is realized, so as to accurately position crack inside pipeline according to photographed image and positioned pipeline position. The pipeline detection method can be widely used for conventional exploration of a liquid pipeline, such as a city drainage pipeline and a tap water pipeline. 110-. (canceled)11. A pipeline detection method , comprising:{'b': '1', 'S, putting a pre-set detection apparatus in a pipeline to be detected, collecting movement information thereof and photographing a pipeline image by the detection apparatus at one or more pre-set times, wherein the movement information comprises an angular velocity and an acceleration;'}{'b': '2', 'S, calculating a first position where the detection apparatus is located at each collection moment, according to the movement information collected at each collection moment;'}{'b': '3', 'S, calculating a second position where the detection apparatus is located at each of the collection moment, according to the pipeline image photographed at each collection moment; and'}{'b': '4', 'S, determining a position where the detection apparatus is located at each collection moment, according to the first position and the second position at each collection moment, so as to ...
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