环扫声呐的排水管道三维检测系统研究  

Research on 3D Detection System of Drainage Pipe with Loop Scan Sonar

作　　者：郑晓凡 乔红兵[1] 高靓 苗普淦 童晓龙 李凯 ZHENG Xiaofan;QIAO Hongbing;GAO Liang;MIAO Pugan;TONG Xiaolong;LI Kai(School of Mechanical and Electrical Engineering,China University of Mining and Technology(Beijing),Beijing 100083,China;School of Artificial Intelligence,China University of Mining and Technology(Beijing),Beijing 100083,China)

机构地区：[1]中国矿业大学(北京)机械与电气工程学院,北京100083 [2]中国矿业大学(北京)人工智能学院,北京100083

出　　处：《自动化应用》2025年第3期34-38,共5页Automation Application

基　　金：国家重点研发计划(2021YFC3090303)。

摘　　要：声呐检测技术是城市地下管网高水位检测的重要手段。针对环扫声呐的二维检测局限性,提出一种基于嵌入式以太网通信的声呐信号采集管道检测控制系统,以实现环扫声呐的三维成像功能。以STM32H743芯片为核心,设计上位机采集软件和下位机控制模块,开发基于UDP协议的网络通信模块,结合PCL库实现声呐数据点云三维成像。物理模型实验结果表明,该系统可满足信号数据实时传输要求,能高效获取环扫声纳的三维数据,且其三维成像的相对误差小于3.0%。实验验证了采集控制系统的可行性和有效性,为城市地下管网的精确检测提供了新的技术手段。Sonar detection technology is an important means of detecting high water level in urban underground pipe network.A sonar signal acquisition pipeline detection and control system based on embedded ethernet communication is proposed to address the limitations of 2D detection of ring scanning sonar,in order to achieve the three-dimensional imaging function of the loop scan sonar.Using the STM32H743 chip as the core,the system includes designed acquisition software for the upper computer,a control module for the lower computer,and a UDP-based network communication module.The 3D imaging of sonar data point cloud is realized by combining PCL library.The physical model experiment results show that the system meets the requirements of real-time signal data transmission,can efficiently obtain 3D data of the loop scan sonar,and the relative error of its 3D imaging is less than 3.0%.The experiment verified the feasibility and effectiveness of the collection and control system,providing a new technical means for accurate detection of urban underground pipelines..

关 键 词：排水管道检测 环扫声呐 嵌入式以太网 三维成像 

分 类 号：TP311[自动化与计算机技术—计算机软件与理论]