CN110989410A - Data management system and method for flexible pipeline robot - Google Patents
Data management system and method for flexible pipeline robot Download PDFInfo
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- CN110989410A CN110989410A CN201911275636.6A CN201911275636A CN110989410A CN 110989410 A CN110989410 A CN 110989410A CN 201911275636 A CN201911275636 A CN 201911275636A CN 110989410 A CN110989410 A CN 110989410A
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- data management
- pipe network
- management system
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- underground pipe
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses a data management system and a data management method for a flexible pipeline robot, and relates to a data management system. The data management module is arranged in the urban water management station and remotely sends an external control instruction to the flexible pipeline robot; the flexible pipeline robot is provided with: the instruction receiving module receives and outputs an external control instruction; the walking control module is used for polling the flexible pipeline robot in the pipe network; the camera module is used for controlling the camera to shoot and generate an underground pipe network environment video in the inspection process; the storage module is used for storing the video of the underground pipe network environment; the first communication module is used for sending the underground pipe network environment video to the data management module for the staff to check; and the second communication module sends the underground pipe network environment video to the cloud server. Has the following beneficial effects: the data management system controls the flexible pipeline robot to inspect and collect underground pipe network information for outward transmission and backup, and monitors walking faults in real time.
Description
Technical Field
The invention relates to a data management system, in particular to a data management system and method of a flexible pipeline robot.
Background
Along with the urbanization level is higher and higher, the change of cities is more and more advanced, corresponding supporting must keep up with in the quick while of city, wherein underground pipe network is the sewer of whole city, plays vital role to city construction, and urban underground pipe network relates to city domestic water, domestic sewage, industrial waste water etc. just because of underground pipe network's importance, must in time patrol and examine underground pipe network and guarantee the city.
At present, many cities form underground comprehensive pipe network systems with large scale and complex complexity, the traditional manual inspection mode is far delayed, and some blind areas, dead angles and dangerous zones are not suitable for manual inspection.
Disclosure of Invention
In order to solve the above problems, the present invention provides a data management system for a flexible pipe robot, including:
the data management module is arranged in the urban water management station and used for remotely sending an external control instruction to the flexible pipeline robot;
the external control instruction comprises a walking instruction and a data acquisition instruction;
the flexible pipeline robot is connected with the data management module and the cloud server respectively, walks in the underground pipe network, and is provided with:
the instruction receiving module is used for receiving and outputting the external control instruction sent by the data management module;
the walking control module is connected with the instruction receiving module and a walking device and used for controlling the walking device to drive the flexible pipeline robot to carry out inspection in the underground pipe network according to the walking instruction sent by the instruction receiving module;
the camera module is respectively connected with the instruction receiving module and a camera and is used for controlling the camera to shoot the underground pipe network in the inspection process according to the data acquisition instruction sent by the instruction receiving module and generating an underground pipe network environment video;
the storage module is connected with the camera module and used for storing the underground pipe network environment video;
the first communication module is connected with the storage module and used for sending the underground pipe network environment video to the data management module so as to be checked by a worker of the urban water management station;
and the second communication module is connected with the storage module and used for sending the underground pipe network environment video to the cloud server.
Preferably, the camera module includes:
the light ray acquisition unit is used for acquiring the light ray intensity of the underground pipe network in real time in the inspection process of the flexible pipeline robot;
the focusing unit is connected with the light ray collecting unit and used for focusing the underground pipe network according to the light ray intensity and generating a corresponding focusing result;
the processing unit is connected with the focusing unit and used for processing according to the focusing result to obtain corresponding definition data;
the definition detection unit is connected with the processing unit and used for comparing the definition data with a preset standard definition threshold value, generating and outputting a corresponding first control instruction when the definition data is lower than the standard definition threshold value, and generating and outputting a corresponding second control instruction when the definition data is not lower than the standard definition threshold value;
the light ray adjusting unit is connected with the definition detecting unit and used for adjusting the light ray intensity according to the first control instruction;
and the camera shooting unit is connected with the definition detection unit and used for controlling the camera to shoot the underground pipe network according to the second control instruction and generating an environment video of the underground pipe network.
Preferably, still include a walking detection module, connect respectively instruction receiving module with running gear, walking detection module includes:
the walking detection unit is used for detecting the running state of the walking device in real time according to the walking instruction and outputting corresponding fault information when the running state shows that the walking device has faults;
and the communication unit is connected with the walking detection unit and used for sending the fault information to the data management module.
Preferably, the second communication module sends the underground pipe network environment video to the cloud server by adopting a preset fixed time interval.
Preferably, the camera is an infrared camera.
A data management method of a flexible pipeline robot is applied to a data management system of the flexible pipeline robot, and comprises the following steps:
step S1, the data management system of the flexible pipeline robot sends an external control instruction to the flexible pipeline robot remotely;
the external control instruction comprises a walking instruction and a data acquisition instruction;
step S2, the data management system of the flexible pipe robot receives and outputs the external control instruction sent by the data management module;
step S3, the data management system of the flexible pipeline robot controls the walking device to drive the flexible pipeline robot to patrol in the underground pipeline network according to the walking instruction sent by the communication module;
step S4, the data management system of the flexible pipeline robot controls the camera to shoot the underground pipe network in the inspection process according to the data acquisition instruction sent by the communication module and generates an underground pipe network environment video;
step S5, the data management system of the flexible pipeline robot stores the underground pipe network environment video;
step S6, the data management system of the flexible pipeline robot sends the underground pipe network environment video to the data management module for the staff of the urban water management station to check;
and step S7, the data management system of the flexible pipeline robot sends the underground pipe network environment video to the cloud server.
Preferably, the step S4 specifically includes the following steps:
step S41, the data management system of the flexible pipeline robot collects the light intensity of the underground pipe network in real time in the inspection process of the flexible pipeline robot;
step S42, the data management system of the flexible pipeline robot focuses the underground pipe network according to the light intensity and generates a corresponding focusing result;
step S43, the data management system of the flexible pipeline robot processes the focusing result to obtain corresponding definition data;
step S44, the data management system of the flexible pipeline robot compares the definition data with a preset standard definition threshold value:
if the definition data is lower than the standard definition threshold value, generating a corresponding first control instruction and outputting the first control instruction;
if the definition data is not lower than the standard definition threshold, generating a corresponding second control instruction and outputting the second control instruction;
step S45, the data management system of the flexible pipeline robot adjusts the light intensity according to the first control instruction;
and step S46, controlling the camera to shoot the underground pipe network and generating an underground pipe network environment video by the data management system of the flexible pipe robot according to the second control instruction.
Preferably, the method for detecting the walking fault of the flexible pipeline robot further comprises the following steps:
step A, the data management system of the flexible pipeline robot detects the running state of the walking device in real time according to the walking instruction:
if the running state indicates that the walking device has a fault, outputting corresponding fault information;
if the running state indicates that the walking device does not have a fault, exiting;
and B, the data management system of the flexible pipeline robot sends the fault information to the data management module.
Has the following beneficial effects:
the data management system controls the underground pipe network information which is patrolled and detected by the flexible pipeline robot in the underground pipe network to be transmitted to the urban water management station and backed up by the cloud server, and the walking fault is monitored in real time.
Drawings
Fig. 1 is a schematic structural diagram of a data management system of a flexible pipeline robot according to a preferred embodiment of the present invention;
FIG. 2 is a flow chart of a data management method for a flexible pipe robot according to a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a camera process of the flexible pipeline robot according to a preferred embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a method for detecting a walking fault of a flexible pipe robot according to a preferred embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
In order to solve the above problems, the present invention provides a data management system for a flexible pipeline robot, as shown in fig. 1, including:
the data management module 1 is arranged in the urban water management station and used for remotely sending an external control instruction to the flexible pipeline robot 2;
the external control instruction comprises a walking instruction and a data acquisition instruction;
the instruction receiving module 4 is used for receiving and outputting an external control instruction sent by the data management module;
the walking control module 5 is connected with the instruction receiving module 4 and the walking device 6 and is used for controlling the walking device to drive the flexible pipeline robot to carry out inspection in the underground pipe network according to the walking instruction sent by the instruction receiving module;
the camera module 7 is respectively connected with the instruction receiving module 4 and a camera 77 and is used for controlling the camera to shoot the underground pipe network in the inspection process according to the data acquisition instruction sent by the instruction receiving module and generating an underground pipe network environment video;
the storage module 8 is connected with the camera module 7 and used for storing the underground pipe network environment video;
the first communication module 9 is connected with the storage module 8 and used for sending the underground pipe network environment video to the data management module 1 so as to be checked by the staff of the urban water management station;
and the second communication module 10 is connected with the storage module 8 and used for sending the underground pipe network environment video to the cloud server 3.
Specifically, in the embodiment, the city management station remotely sends an external control instruction to the flexible pipeline robot 2 through the data management module 1 to perform walking inspection, collect an underground pipe network environment video and store the underground pipe network environment video; and can send underground pipe network environment video to urban water management station through first communication module 9 and often see with the water management station staff of supply city, can also regularly send underground pipe network environment video to high in the clouds server 3 through second communication module 10 and backup to prevent data loss.
In a preferred embodiment of the present invention, the camera module 7 includes:
the light ray collection unit 71 is used for collecting the light ray intensity of the underground pipe network in real time in the inspection process of the flexible pipe robot;
the focusing unit 72 is connected with the light collecting unit 71 and used for focusing the underground pipe network according to the light intensity and generating a corresponding focusing result;
the processing unit 73 is connected with the focusing unit 72 and used for processing the focusing result to obtain corresponding definition data;
the definition detection unit 74 is connected to the processing unit 73, and is configured to compare the definition data with a preset standard definition threshold, and generate and output a corresponding first control instruction when the definition data is lower than the standard definition threshold, and generate and output a corresponding second control instruction when the definition data is not lower than the standard definition threshold;
a light adjusting unit 75 connected to the sharpness detecting unit 74 for adjusting the light intensity according to the first control instruction;
and the camera unit 76 is connected with the definition detection unit 74 and is used for controlling the camera to shoot the underground pipe network according to the second control instruction and generating an environment video of the underground pipe network.
In a preferred embodiment of the present invention, the present invention further includes a walking detection module 11, which is respectively connected to the instruction receiving module 4 and the walking device 6, wherein the walking detection module 11 includes:
the walking detection unit 111 is used for detecting the running state of the walking device in real time according to the walking instruction, and outputting corresponding fault information when the running state indicates that the walking device has a fault;
and the communication unit 112 is connected with the walking detection unit 111 and is used for sending the fault information to the data management module 1.
Specifically, in this embodiment, the running state of the running gear 6 is monitored by the running detection module 11, corresponding fault information is output when the running gear 6 fails, and the fault information is returned to the remote urban water management station, so that a manager can obtain information in time and can process the information in time.
In a preferred embodiment of the present invention, the second communication module 10 sends the underground pipe network environment to the cloud server by using a preset fixed time interval.
In the preferred embodiment of the present invention, the camera 8 is an infrared camera.
A data management method of a flexible pipe robot, applied to a data management system of the flexible pipe robot, as shown in fig. 2, comprising:
step S1, the data management system of the flexible pipeline robot sends an external control instruction to the flexible pipeline robot remotely;
the external control instruction comprises a walking instruction and a data acquisition instruction;
step S2, the data management system of the flexible pipeline robot receives and outputs the external control instruction sent by the data management module;
step S3, the data management system of the flexible pipeline robot controls the walking device to drive the flexible pipeline robot to patrol in the underground pipeline network according to the walking instruction sent by the communication module;
step S4, the data management system of the flexible pipeline robot controls the camera to shoot the underground pipe network in the inspection process according to the data acquisition instruction sent by the communication module and generates an underground pipe network environment video;
step S5, the data management system of the flexible pipeline robot stores the underground pipe network environment video;
step S6, the data management system of the flexible pipeline robot sends the underground pipe network environment video to the data management module for the staff of the urban water management station to check;
and step S7, the data management system of the flexible pipeline robot sends the underground pipe network environment video to the cloud server.
In a preferred embodiment of the present invention, as shown in fig. 3, step S4 specifically includes the following steps:
step S41, the data management system of the flexible pipeline robot collects the light intensity of the underground pipe network in real time in the inspection process of the flexible pipeline robot;
step S42, the data management system of the flexible pipeline robot focuses the underground pipe network according to the light intensity and generates a corresponding focusing result;
step S43, the data management system of the flexible pipeline robot processes according to the focusing result to obtain corresponding definition data;
step S44, the data management system of the flexible pipe robot compares the sharpness data with a preset standard sharpness threshold:
if the definition data is lower than the standard definition threshold value, generating a corresponding first control instruction and outputting the first control instruction;
if the definition data is not lower than the standard definition threshold value, generating a corresponding second control instruction and outputting the second control instruction;
step S45, the data management system of the flexible pipeline robot adjusts the light intensity according to the first control instruction;
and step S46, the data management system of the flexible pipeline robot controls the camera to shoot the underground pipe network according to the second control instruction and generates an environment video of the underground pipe network.
In a preferred embodiment of the present invention, the method further includes a method for detecting a fault when the flexible pipe robot walks, as shown in fig. 4, the method includes the following steps:
step A, the data management system of the flexible pipeline robot detects whether the running state of the running gear breaks down in real time according to the running instruction:
if the running state indicates that the walking device has a fault, outputting corresponding fault information, and turning to the step B;
if the running state indicates that the running gear does not have a fault, exiting;
and B, the data management system of the flexible pipeline robot sends the fault information to the data management module.
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. A data management system of a flexible pipe robot, comprising:
the data management module is arranged in the urban water management station and used for remotely sending an external control instruction to the flexible pipeline robot;
the external control instruction comprises a walking instruction and a data acquisition instruction;
the flexible pipeline robot is connected with the data management module and the cloud server respectively, walks in the underground pipe network, and is provided with:
the instruction receiving module is used for receiving and outputting the external control instruction sent by the data management module;
the walking control module is connected with the instruction receiving module and a walking device and used for controlling the walking device according to the walking instruction sent by the instruction receiving module so as to drive the flexible pipeline robot to carry out inspection in the underground pipe network;
the camera module is respectively connected with the instruction receiving module and a camera and is used for controlling the camera to shoot the underground pipe network in the inspection process according to the data acquisition instruction sent by the instruction receiving module and generating an underground pipe network environment video;
the storage module is connected with the camera module and used for storing the underground pipe network environment video;
the first communication module is connected with the storage module and used for sending the underground pipe network environment video to the data management module so as to be checked by a worker of the urban water management station;
and the second communication module is connected with the storage module and used for sending the underground pipe network environment video to the cloud server.
2. The data management system of a flexible pipe robot according to claim 1, wherein the camera module comprises:
the light ray acquisition unit is used for acquiring the light ray intensity of the underground pipe network in real time in the inspection process of the flexible pipeline robot;
the focusing unit is connected with the light ray collecting unit and used for focusing the underground pipe network according to the light ray intensity and generating a corresponding focusing result;
the processing unit is connected with the focusing unit and used for processing according to the focusing result to obtain corresponding definition data;
the definition detection unit is connected with the processing unit and used for comparing the definition data with a preset standard definition threshold value, generating and outputting a corresponding first control instruction when the definition data is lower than the standard definition threshold value, and generating and outputting a corresponding second control instruction when the definition data is not lower than the standard definition threshold value;
the light ray adjusting unit is connected with the definition detecting unit and used for adjusting the light ray intensity according to the first control instruction;
and the camera shooting unit is connected with the definition detection unit and used for controlling the camera to shoot the underground pipe network according to the second control instruction and generating an environment video of the underground pipe network.
3. The data management system of a flexible pipe robot as claimed in claim 1, further comprising a walking detection module respectively connected to the command receiving module and the walking means, the walking detection module comprising:
the walking detection unit is used for detecting the running state of the walking device in real time according to the walking instruction and outputting corresponding fault information when the running state shows that the walking device has faults;
and the communication unit is connected with the walking detection unit and used for sending the fault information to the data management module.
4. The data management system of the flexible pipeline robot of claim 1, wherein the second communication module sends the underground pipe network environment to the cloud server in a video mode at preset fixed time intervals.
5. The data management system of a flexible pipe robot as claimed in claim 1, wherein the camera is an infrared camera.
6. A data management method of a flexible pipe robot, applied to the data management system of the flexible pipe robot according to any one of claims 1 to 5, comprising:
step S1, the data management system of the flexible pipeline robot sends an external control instruction to the flexible pipeline robot remotely;
the external control instruction comprises a walking instruction and a data acquisition instruction;
step S2, the data management system of the flexible pipe robot receives and outputs the external control instruction sent by the data management module;
step S3, the data management system of the flexible pipeline robot controls the walking device to drive the flexible pipeline robot to patrol in the underground pipeline network according to the walking instruction;
step S4, the data management system of the flexible pipeline robot controls the camera to shoot the underground pipe network in the inspection process according to the data acquisition instruction sent by the communication module and generates an underground pipe network environment video;
step S5, the data management system of the flexible pipeline robot stores the underground pipe network environment video;
step S6, the data management system of the flexible pipeline robot sends the underground pipe network environment video to the data management module for the staff of the urban water management station to check;
and step S7, the data management system of the flexible pipeline robot sends the underground pipe network environment video to the cloud server.
7. The data management method of the flexible pipeline robot according to claim 6, wherein the step S4 specifically includes the steps of:
step S41, the data management system of the flexible pipeline robot collects the light intensity of the underground pipe network in real time in the inspection process of the flexible pipeline robot;
step S42, the data management system of the flexible pipeline robot focuses the underground pipe network according to the light intensity and generates a corresponding focusing result;
step S43, the data management system of the flexible pipeline robot processes the focusing result to obtain corresponding definition data;
step S44, the data management system of the flexible pipeline robot compares the definition data with a preset standard definition threshold value:
if the definition data is lower than the standard definition threshold value, generating a corresponding first control instruction and outputting the first control instruction;
if the definition data is not lower than the standard definition threshold, generating a corresponding second control instruction and outputting the second control instruction;
step S45, the data management system of the flexible pipeline robot adjusts the light intensity according to the first control instruction;
and step S46, controlling the camera to shoot the underground pipe network and generating an underground pipe network environment video by the data management system of the flexible pipe robot according to the second control instruction.
8. The data management method of a flexible pipe robot according to claim 6, further comprising a method of detecting a failure when the flexible pipe robot walks, comprising the steps of:
step A, the data management system of the flexible pipeline robot detects the running state of the walking device in real time according to the walking instruction:
if the running state indicates that the walking device has a fault, outputting corresponding fault information;
if the running state indicates that the walking device does not have a fault, exiting;
and B, the data management system of the flexible pipeline robot sends the fault information to the data management module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911275636.6A CN110989410A (en) | 2019-12-12 | 2019-12-12 | Data management system and method for flexible pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911275636.6A CN110989410A (en) | 2019-12-12 | 2019-12-12 | Data management system and method for flexible pipeline robot |
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| CN110989410A true CN110989410A (en) | 2020-04-10 |
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| CN201911275636.6A Withdrawn CN110989410A (en) | 2019-12-12 | 2019-12-12 | Data management system and method for flexible pipeline robot |
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Cited By (2)
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| CN113625638A (en) * | 2021-08-13 | 2021-11-09 | 深圳潜水侠创新动力科技有限公司 | Intelligent pipe network robot system |
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Application publication date: 20200410 |