Closed-circuit television (CCTV) online pipeline detection system

A closed-circuit television (CCTV) online pipeline detection system, comprising a control terminal, a detection robot, and a CCTV pipeline detection system adapted to the detection robot, wherein the CCTV pipeline detection system is provided inside the detection robot;

• and
• the control terminal is electrically connected with the detection robot and the CCTV pipeline detection system through a control system;
• and the control system is provided in the control terminal;
• wherein the CCTV pipeline detection system comprises a GTR8600 monitoring module, a drive module, and a power drive module;
• the GTR8600 monitoring module is provided on the detection robot;
• through the control terminal, the drive module drives a drive control device to move;
• and
• a power drive device is provided with a power drive system;
• and the power drive system is controlled by the control system to control the drive device of the power drive system for conventional movements;
• wherein the GTR8600 monitoring module comprises an industrial high-resolution color camera unit, a motion posture monitoring unit, an image recording and processing terminal, and a transmission unit;
• the industrial high-resolution color camera unit is configured to acquire an external image and generate a resolution image based on the external image;
• the motion posture monitoring unit is configured to monitor and identify an internal state of a pipeline in real time based on the resolution image, and infer a motion posture of the detection robot based on the internal state of the pipeline to generate an inference result;
• the image recording and processing terminal is configured to record and process the acquired external image and the corresponding internal state of the pipeline, and generate a recording result;
• and
• the transmission unit is configured to transmit the inference result and the recording result to the control terminal;
• wherein the motion posture monitoring unit comprises:
• an offset angle subunit, configured to receive the resolution image, transmit the resolution image to a preset balance detection mechanism, and calculate an offset angle of the resolution image;
• a robot state subunit, configured to monitor and identify a state of the detection robot in real time based on the offset angle;
• a state information subunit, configured to receive the resolution image according to a preset period, record the internal state of the pipeline, and generate corresponding state information based on the state of the detection robot and the internal state of the pipeline;
• and
• an inference subunit, configured to extract a resolution feature point of the resolution image based on the state information, transmit the resolution feature point to a preset big data center for analysis, and infer the motion posture of the detection robot to generate the inference result;
• wherein the state information subunit comprises:
• an image processing subunit, configured to receive the resolution image according to the preset period, and perform grayscaling and normalization on the image pixels of the resolution image to generate a processed image;
• a local image subunit, configured to stretch and segment the processed image to generate a local image;
• an identification result subunit, configured to identify a pipeline damage type based on the local image, and generate an identification result;
• a statistical subunit, configured to perform a statistical analysis on a pipeline damage location and the corresponding pipeline damage type within a preset detection region based on the identification result;
• a pipeline internal state subunit, configured to determine the internal state of the pipeline based on the pipeline damage location and the corresponding pipeline damage type;
• and
• a state information subunit, configured to acquire a receiving time corresponding to the internal state of the pipeline, trace the corresponding state of the detection robot based on the receiving time, and generate corresponding state information.