基于漂流式胶囊机器人的管道快速检测系统  

Rapid Detection System of Pipeline Based on Floating Capsule Robot

作　　者：李清泉[1,2,3] 朱家松 李虹[4] 薛卫星[1,3] 朱松 方旭 LI Qing-quan;ZHU Jia-song;LI Hong;XUE Wei-xing;ZHU Song;FANG Xu(Guangdong Key Laboratory of Urban Informatics,Shenzhen University,Shenzhen 518060,China;Guangdong Laboratory of Artificial Intelligence and Digital Economy,Shenzhen 518060,China;School of Civil and Traffic Engineering,Shenzhen University,Shenzhen 518060,China;Chinese People9 s Liberation Army,Unit 96963)

机构地区：[1]深圳大学广东省城市空间信息工程重点、实验室,广东深圳518060 [2]人工智能与数字经济广东省实验室<深圳〉,广东深圳518060 [3]深圳大学土木与交通工程学院,广东深圳518060 [4]中国人民解放军96963部队

出　　处：《中国给水排水》2021年第10期126-132,共7页China Water & Wastewater

基　　金：国家重点研发计划项目(2016YFB0502203);深圳市水务科技信息中心示范项目(0832-SFCX19SZC020)。

摘　　要：地下管网是城市的重要基础设施,但在长期运行过程中存在诸多病害问题,需要进行大范围常态化的病害探查。漂流式管道检测胶囊机器人是一种全新的地下管网快速检测系统。该系统集成低成本高清CMOS相机及9轴MEMS航姿参考系统,采用无动力设计,可随水流运动,实现管道内部图像数据和胶囊运动数据的快速采集。同时,还配备一整套完善的数据后处理软件,进行位置推算和图像处理,最终得到带有位置标签的管道病害检测视频,并生成标准的管道病害检测报告,还可配合管网信息化系统服务于综合管廊、海绵城市与智慧城市等领域。2018年以来,该系统已经在深圳、合肥和浙江省等多地进行了实际应用。Underground pipe network is an important infrastructure in cities,however,there are many problems in the pipe after long-term operation.So it is necessary to carry out large-scale normalized problem detection.The floating capsule robot is a new rapid detection system for underground pipe network,which integrates low-cost high-definition CMOS cameras and a 9-axis MEMS navigation attitude reference system.It can move with the water flow without any power and realize rapid collection of the internal image data and capsule motion data.At the same time,it is also equipped with post-processing software for position calculation and image processing,so as to obtain the pipeline problem detection video with location label and generate the standardized pipeline problem detection report.It can also cooperate with the pipeline network information system to serve the utility tunnel,sponge city and smart city,etc.It has been applied in many cities and regions,such as Shenzhen,Hefei and Zhejiang Province since 2018.

关 键 词：排水管网 管道病害 快速检测 漂流式胶囊 

分 类 号：TU99[建筑科学—市政工程]