CN110848500A - Flexible pipeline robot based on internet of things technology - Google Patents
Flexible pipeline robot based on internet of things technology Download PDFInfo
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- CN110848500A CN110848500A CN201911277217.6A CN201911277217A CN110848500A CN 110848500 A CN110848500 A CN 110848500A CN 201911277217 A CN201911277217 A CN 201911277217A CN 110848500 A CN110848500 A CN 110848500A
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention provides a flexible pipeline robot based on the technology of the Internet of things, which relates to the technical field of pipeline inspection and comprises an internal control module, a data processing module and a data processing module, wherein the internal control module is used for generating an internal control instruction; the sensing module is used for detecting according to the internal control instruction to obtain detection time and real-time pressure data; the positioning module is used for positioning according to the internal control instruction to obtain positioning time and real-time position information; the processing module is used for generating a real-time pressure curve according to the detection time and the real-time pressure data and generating a routing inspection track according to the positioning time and the real-time position information; the first communication module is used for sending the real-time pressure curve and the routing inspection track to the ground control terminal according to a first sending frequency and sending the real-time pressure curve and the routing inspection track to the remote server according to a second sending frequency; and the second communication module is used for sending the detection time and the real-time pressure data, the positioning time and the real-time position information to the ground control end and the remote server after the inspection is finished. The invention ensures the integrity of the polling data and effectively improves the data transmission efficiency.
Description
Technical Field
The invention relates to the technical field of pipeline inspection, in particular to a flexible pipeline robot based on the technology of the Internet of things.
Background
Along with the rapid development of the economy of China, the scale of cities is enlarged, the popularization rate of tap water supply in villages is rapidly improved, the subsequent effects are that the service area of a water supply network of a water supply company is rapidly enlarged, the scale is increased in a well-blowout manner, comprehensive pressure real-time monitoring and data collection of the water supply network are carried out for providing good water supply service and ensuring the healthy operation of the water supply network, real pressure data of all parts of the water supply network are accurately mastered in time, timing quantitative analysis is carried out, and important practical references are provided for the formulation of water supply scheduling, leakage rate control and water plant control strategies of management departments, so that the monitoring and evaluation of the water supply operation efficiency of the water supply network are accurate and objective, and the monitoring and evaluation of the water supply operation efficiency of the water supply network are improved.
In the prior art, besides the water supply network is provided with a sensing device for pressure real-time monitoring and data collection, the method also comprises the step of routing inspection by adopting a pipeline robot for key monitoring pipelines or pipelines with potential safety hazards so as to further determine the leakage condition existing in the pipelines. Current pipeline robot can get into the water supply network through the fire hydrant infiltration, move passively along with the flow of water afterwards, and realize the monitoring to the water supply network at the passive removal in-process, and after patrolling and examining, take out pipeline robot from the water supply network, connect computer end with this pipeline robot and read out monitoring data, can't realize patrolling and examining the transmission of in-process real-time supervision data, data analysis has the time delay nature, and the mode of passive removal can't adjust the itinerant line according to the demand.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a flexible pipeline robot based on the technology of the internet of things, which is applied to the inspection process of a water supply pipeline, the flexible pipeline robot is connected with at least one ground control terminal and a remote server, and the flexible pipeline robot specifically comprises:
the internal control module is used for generating and outputting a corresponding internal control instruction according to a preset frequency in the routing inspection process;
the sensing module is connected with the internal control module and used for detecting the pressure of the water supply pipeline according to the internal control instruction to obtain the detection time of the flexible pipeline robot and real-time pressure data corresponding to the detection time;
the positioning module is connected with the internal control module and used for positioning the flexible pipeline robot according to the internal control instruction to obtain the positioning time of the flexible pipeline robot and the real-time position information corresponding to the positioning time;
the storage module is respectively connected with the sensing module and the positioning module and is used for storing the detection time and the corresponding real-time pressure data, and the positioning time and the corresponding real-time position information;
the processing module is connected with the storage module, and the processing module specifically comprises:
the first processing unit is used for generating a real-time pressure curve of the water supply pipeline by taking the detection time as an abscissa and taking the real-time pressure data as an ordinate according to the detection time and the real-time pressure data;
the second processing unit is used for generating a routing inspection track of the flexible pipeline robot by taking the positioning time as an abscissa and taking the real-time position information as an ordinate according to the positioning time and the real-time position information;
a first communication module connected to the processing module, the first communication module comprising:
the first communication unit is used for sending the real-time pressure curve and the routing inspection track to the ground control terminal according to a first sending frequency;
the second communication unit is used for sending the real-time pressure curve and the routing inspection track to the remote server according to a second sending frequency;
and the second communication module is connected with the storage module and used for detecting the time and corresponding real-time pressure data after the inspection process is finished, and positioning the time and corresponding real-time position information respectively sent to the ground control end and the remote server so as to supply the ground control end and the remote server for further analysis and use.
Preferably, the flexible pipeline robot further comprises a remote control module, which is respectively connected to the internal control module, the sensing module and the positioning module, the remote control module specifically comprises:
the command detection unit is used for detecting external control commands sent by the ground control terminal and the remote server in real time and generating corresponding detection results when the external control commands are detected;
the instruction generating module is connected with the instruction detecting unit and used for generating a stopping instruction according to the detection result so as to control the internal control module to stop generating the internal control instruction;
and the instruction transmission module is connected with the instruction detection unit and used for sending the external control instruction to the sensing module and the positioning module according to the detection result so as to control the sensing module and the positioning module to act.
Preferably, the flexible pipeline robot further comprises a driving module, connected to the remote control module, and configured to drive the flexible pipeline robot to perform inspection according to a preset route according to the external control instruction;
the external control instruction includes the preset route.
Preferably, the sensing module is a multidirectional thin-film pressure sensor.
Preferably, the ground control terminal is a mobile phone, and/or a tablet computer, and/or a computer.
Preferably, the positioning module is a GPS module.
Preferably, the first transmission frequency is greater than the second transmission frequency.
Preferably, the processing module further comprises a third processing unit respectively connected to the first processing unit and the second processing unit, and configured to represent the real-time pressure curve and the inspection trajectory by using the same coordinate system, obtain an inspection result image of the flexible pipeline robot, and send the inspection result image to the ground control end and the remote server respectively.
The technical scheme has the following advantages or beneficial effects:
1) the detection time and real-time pressure data, the positioning time and the real-time position information are stored, and after the inspection process is finished, the detection time and real-time pressure data, the positioning time and the real-time position information are respectively sent to the ground control end and the remote server for further analysis, so that the integrity of the inspection data is ensured;
2) in the inspection process, the real-time pressure curve and the inspection track are respectively sent to the ground control terminal and the remote server according to different sending frequencies, so that the data transmission efficiency is effectively improved, and the energy consumption is saved.
Drawings
Fig. 1 is a schematic structural diagram of a flexible pipeline robot based on the internet of things technology in a preferred embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present invention is not limited to the embodiment, and other embodiments may be included in the scope of the present invention as long as the gist of the present invention is satisfied.
In a preferred embodiment of the present invention, based on the above problems in the prior art, there is provided a flexible pipeline robot based on internet of things technology, which is applied to a water supply pipeline inspection process, as shown in fig. 1, the flexible pipeline robot 1 is connected to at least one ground control terminal 2 and a remote server 3, and the flexible pipeline robot 1 specifically includes:
the internal control module 11 is used for generating and outputting a corresponding internal control instruction according to a preset frequency in the inspection process;
the sensing module 12 is connected with the internal control module 11 and used for detecting the pressure of the water supply pipeline according to the internal control instruction to obtain the detection time of the flexible pipeline robot and real-time pressure data corresponding to the detection time;
the positioning module 13 is connected with the internal control module 11 and used for positioning the flexible pipeline robot according to the internal control instruction to obtain the positioning time of the flexible pipeline robot 1 and real-time position information corresponding to the positioning time;
the storage module 14 is respectively connected with the sensing module 12 and the positioning module 13 and is used for storing the detection time and the corresponding real-time pressure data, and the positioning time and the corresponding real-time position information;
the processing module 15 is connected to the storage module 14, and the processing module 15 specifically includes:
a first processing unit 151, configured to generate a real-time pressure curve of the water supply pipeline with the detection time as an abscissa and the real-time pressure data as an ordinate according to the detection time and the real-time pressure data;
the second processing unit 152 is configured to generate a routing inspection track of the flexible pipeline robot, which takes the positioning time as an abscissa and takes the real-time position information as an ordinate, according to the positioning time and the real-time position information;
a first communication module 16 connected to the processing module 15, the first communication module 16 including:
the first communication unit 161 is configured to send the real-time pressure curve and the routing inspection track to the ground control terminal 2 according to a first sending frequency;
the second communication unit 162 is configured to send the real-time pressure curve and the routing inspection trajectory to the remote server 3 according to a second sending frequency;
and the second communication module 17 is connected with the storage module 14 and is used for sending the detection time and the corresponding real-time pressure data, the positioning time and the corresponding real-time position information to the ground control end 2 and the remote server 3 respectively after the inspection process is finished so as to further analyze and use the ground control end 2 and the remote server 3.
Specifically, in this embodiment, flexible pipe robot 1 can in time send the result of patrolling and examining to ground control terminal 2 and remote server 3, makes things convenient for ground control terminal 2 and remote server 3 to in time acquire the inside real-time pressure data of water supply pipe through the above-mentioned result of patrolling and examining to through the leakage condition that exists in this real-time pressure data in time location water supply pipe. The inspection result comprises a real-time pressure curve and an inspection track.
More specifically, the flexible pipe robot 1 has an internal control module 11 therein, and the internal control module 11 generates an internal control command according to a preset frequency, and further controls the pressure detection frequency of the sensing module 12 and the positioning frequency of the positioning module 13. The preset frequency can be set according to the inspection precision and the internal environment complexity of the water supply pipeline, the inspection precision requirement is preferably higher, the internal environment is more complex, the higher preset frequency is set, the inspection precision requirement is not high, and the lower preset frequency is set when the internal environment is simple. The sensing module 12 detects pressure data of the water supply pipeline according to the internal control instruction, wherein the pressure data comprises detection time and real-time pressure data corresponding to the detection time. The positioning module 13 positions the flexible pipeline robot according to the internal control instruction to obtain positioning data of the flexible pipeline robot, wherein the positioning data comprises positioning time and real-time position information corresponding to the positioning time. The detection time and real-time pressure data, the positioning time and the real-time position information comprise a plurality of groups of corresponding data, the data volume is large, and if the data are directly transmitted, the transmission rate is slow and the energy consumption is increased. Therefore, the invention preferably stores the detection time and real-time pressure data, the positioning time and the real-time position information, and respectively sends the detection time and real-time pressure data, the positioning time and the real-time position information to the ground control end 2 and the remote server 3 after the inspection process is finished, thereby ensuring the integrity of the inspection data. In the inspection process, the detection time and the real-time pressure data are processed to generate a real-time pressure curve, the positioning time and the real-time position information are processed to generate an inspection track, and the real-time pressure curve and the inspection track are respectively sent to the ground control terminal 2 and the remote server 3 according to different sending frequencies, so that the data transmission efficiency is effectively improved, and the energy consumption is saved.
In a preferred embodiment of the present invention, the flexible pipeline robot 1 further includes a remote control module 18, which is respectively connected to the internal control module 11, the sensing module 12 and the positioning module 13, wherein the remote control module 18 specifically includes:
the instruction detection unit 181 is configured to detect an external control instruction sent by the ground control terminal 2 and the remote server 3 in real time, and generate a corresponding detection result when the external control instruction is detected;
the instruction generating module 182 is connected to the instruction detecting unit 181, and configured to generate a stop instruction according to the detection result, so as to control the internal control module 11 to stop generating the internal control instruction;
and the instruction transmission module 183 is connected to the instruction detection unit 181, and is configured to send an external control instruction to the sensing module 12 and the positioning module 13 according to the detection result, so as to control the sensing module 12 and the positioning module 13 to act.
Specifically, in this embodiment, the flexible pipe robot 1 is further provided with a remote control module 18, and the setting of the remote control module 18 facilitates the ground control terminal 2 and the remote server 3 to perform external interference on the inspection process of the flexible pipe robot 1 in real time in the inspection process. When the ground control end 2 and the remote server 3 perform external interference on the inspection process of the flexible pipeline robot 1 through the remote control module 18, the generation of internal control instructions needs to be stopped at first, so as to prevent instruction conflicts caused by simultaneous issuing of multiple instructions.
In a preferred embodiment of the present invention, the flexible pipeline robot 1 further comprises a driving module 19 connected to the remote control module 18 for driving the flexible pipeline robot 1 to perform routing inspection according to a preset route according to an external control instruction;
the external control command includes a preset route.
Specifically, in this embodiment, flexible pipe robot 1 normally patrols and examines the in-process and need not drive module 19's drive action, but along with the rivers flow direction motion in the water supply pipe, if ground control end 2 or remote server 3 need control the route of patrolling and examining, then sends external control instruction through the remote control module and drive flexible pipe robot 1 installation and predetermine the route and patrol and examine with control drive module.
In the preferred embodiment of the present invention, the sensing module 12 is a multidirectional thin-film pressure sensor.
In a preferred embodiment of the present invention, the ground control terminal 2 is a mobile phone, and/or a tablet computer, and/or a computer.
In the preferred embodiment of the present invention, the positioning module 13 is a GPS module.
In a preferred embodiment of the present invention, the first transmission frequency is greater than the second transmission frequency.
In a preferred embodiment of the present invention, the processing module 15 further includes a third processing unit 153, which is respectively connected to the first processing unit 151 and the second processing unit 152, and is configured to represent the real-time pressure curve and the inspection trajectory by using the same coordinate system, obtain an inspection result image of the flexible pipe robot 1, and respectively send the inspection result image to the ground control terminal 2 and the remote server 3.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides a flexible pipeline robot based on internet of things is applied to the process of patrolling and examining of water supply pipe, a serial communication port, flexible pipeline robot connects an at least ground control terminal and a remote server, flexible pipeline robot specifically includes:
the internal control module is used for generating and outputting a corresponding internal control instruction according to a preset frequency in the routing inspection process;
the sensing module is connected with the internal control module and used for detecting the pressure of the water supply pipeline according to the internal control instruction to obtain the detection time of the flexible pipeline robot and real-time pressure data corresponding to the detection time;
the positioning module is connected with the internal control module and used for positioning the flexible pipeline robot according to the internal control instruction to obtain the positioning time of the flexible pipeline robot and the real-time position information corresponding to the positioning time;
the storage module is respectively connected with the sensing module and the positioning module and is used for storing the detection time and the corresponding real-time pressure data, and the positioning time and the corresponding real-time position information;
the processing module is connected with the storage module, and the processing module specifically comprises:
the first processing unit is used for generating a real-time pressure curve of the water supply pipeline by taking the detection time as an abscissa and taking the real-time pressure data as an ordinate according to the detection time and the real-time pressure data;
the second processing unit is used for generating a routing inspection track of the flexible pipeline robot by taking the positioning time as an abscissa and taking the real-time position information as an ordinate according to the positioning time and the real-time position information;
a first communication module connected to the processing module, the first communication module comprising:
the first communication unit is used for sending the real-time pressure curve and the routing inspection track to the ground control terminal according to a first sending frequency;
the second communication unit is used for sending the real-time pressure curve and the routing inspection track to the remote server according to a second sending frequency;
and the second communication module is connected with the storage module and used for detecting the time and corresponding real-time pressure data after the inspection process is finished, and positioning the time and corresponding real-time position information respectively sent to the ground control end and the remote server so as to supply the ground control end and the remote server for further analysis and use.
2. The flexible pipeline robot based on the internet of things technology of claim 1, further comprising a remote control module respectively connected to the internal control module, the sensing module and the positioning module, wherein the remote control module specifically comprises:
the command detection unit is used for detecting external control commands sent by the ground control terminal and the remote server in real time and generating corresponding detection results when the external control commands are detected;
the instruction generating module is connected with the instruction detecting unit and used for generating a stopping instruction according to the detection result so as to control the internal control module to stop generating the internal control instruction;
and the instruction transmission module is connected with the instruction detection unit and used for sending the external control instruction to the sensing module and the positioning module according to the detection result so as to control the sensing module and the positioning module to act.
3. The flexible pipeline robot based on the internet of things technology of claim 2, further comprising a driving module connected to the remote control module and used for driving the flexible pipeline robot to perform inspection according to a preset route according to the external control instruction;
the external control instruction includes the preset route.
4. The Internet of things technology-based flexible pipeline robot of claim 1, wherein the sensing module is a multidirectional thin film pressure sensor.
5. The flexible pipeline robot based on the internet of things technology of claim 1, wherein the ground control terminal is a mobile phone, and/or a tablet computer, and/or a computer.
6. The internet of things technology-based flexible pipeline robot of claim 1, wherein the positioning module is a GPS module.
7. The internet of things technology-based flexible pipeline robot of claim 1, wherein the first transmission frequency is greater than the second transmission frequency.
8. The flexible pipeline robot based on the internet of things technology of claim 1, wherein the processing module further comprises a third processing unit, which is respectively connected with the first processing unit and the second processing unit, and is configured to represent the real-time pressure curve and the inspection trajectory by using the same coordinate system, obtain an inspection result image of the flexible pipeline robot, and respectively send the inspection result image to the ground control end and the remote server.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911277217.6A CN110848500B (en) | 2019-12-12 | 2019-12-12 | Flexible pipeline robot based on internet of things technology |
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| CN201911277217.6A CN110848500B (en) | 2019-12-12 | 2019-12-12 | Flexible pipeline robot based on internet of things technology |
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| CN110848500B (en) | 2021-04-09 |
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