CN112254015A - Heterogeneous multi-agent under-pressure leakage blocking method and system based on 5G communication - Google Patents
Heterogeneous multi-agent under-pressure leakage blocking method and system based on 5G communication Download PDFInfo
- Publication number
- CN112254015A CN112254015A CN202010993245.4A CN202010993245A CN112254015A CN 112254015 A CN112254015 A CN 112254015A CN 202010993245 A CN202010993245 A CN 202010993245A CN 112254015 A CN112254015 A CN 112254015A
- Authority
- CN
- China
- Prior art keywords
- robot
- ground
- pressure leakage
- heterogeneous multi
- monitoring area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
-
- 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
- F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/38—Services specially adapted for particular environments, situations or purposes for collecting sensor information
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Examining Or Testing Airtightness (AREA)
Abstract
The invention relates to the technical field of pipeline maintenance, in particular to a heterogeneous multi-agent under-pressure leakage blocking method and system based on 5G communication, wherein the system comprises the following components: the system comprises an optical fiber sensing network, a command center and heterogeneous multi-agents which are connected with each other, wherein the heterogeneous multi-agents comprise a flight inspection robot and a ground robot which are connected with each other, and the ground robot comprises an under-pressure leakage blocking robot and a ground transportation robot; the method comprises the following steps: the method comprises the steps that an optical fiber sensing network monitors characteristic parameters of a pipeline, a sensing node with abnormality is located, a flight inspection robot detects a monitoring area, a command center sends a determined leaking point position and a solution to a ground robot, the ground transportation robot carries and transports the pressurized leaking stoppage robot to the leaking point position, and the pressurized leaking stoppage robot automatically gathers the pressurized leaking stoppage robot to the position of the ground inspection robot after completing a pressurized leaking stoppage task to complete recovery operation.
Description
Technical Field
The invention relates to the technical field of pipeline maintenance, in particular to a heterogeneous multi-agent under-pressure leakage blocking method and system based on 5G communication.
Background
In modern power industry production, gas and water transportation containers and pipelines are indispensable, which can be damaged or even leaked for various reasons in the production process, and in the case of continuous leakage of the pipelines or containers, irreparable damage and serious casualties of equipment can easily occur, and similar accidents still occur.
The pressure leak stopping is also called pressure sealing and online sealing (online leak sealing), and is used in industrial industries with continuous production requirements, such as power industry, petrochemical industry and the like. Under the condition of not influencing production, the technology for repairing the pipeline leakage is adopted under the condition that special equipment with pressure works. The pressure leakage blocking technology relates to a plurality of methods and tools, and the change of the actual situation in the field and the leakage characteristics have great influence on the selection of the execution scheme.
Because the operation of leaking stoppage is difficult under pressure, the normative is strong and the danger is very high, the traditional manual leaking stoppage operation is adopted, and the serious conditions of casualties or equipment damage and the like are probably caused. Moreover, qualification certification of the leakage stoppage workers with temperature and pressure is cancelled in 2016, new technicians cannot be generated by the leakage stoppage workers with temperature and pressure, and the number of the technicians cannot meet the requirements of the current power industry.
In summary, the multi-agent belt pressure leakage blocking autonomous cooperation method under the high-risk environment is researched and developed, so that economic loss can be reduced, and greater safety accidents can be avoided.
Disclosure of Invention
In order to solve the above problems, the present invention provides a heterogeneous multi-agent belt pressure plugging method and system based on 5G communication, so as to solve one or more technical problems in the prior art, and provide at least one useful choice or creation condition.
In order to achieve the purpose, the invention provides the following technical scheme:
a heterogeneous multi-agent under-pressure leakage blocking method based on 5G communication is applied to an under-pressure leakage blocking system, the under-pressure leakage blocking system comprises an optical fiber sensing network, a command center and heterogeneous multi-agents which are connected with one another through a 5G communication network, the heterogeneous multi-agents comprise a flight inspection robot and a ground robot which are connected with one another through the 5G communication network, and the ground robot comprises an under-pressure leakage blocking robot and a ground transportation robot;
the method comprises the following steps:
monitoring characteristic parameters of a pipeline by an optical fiber sensing network, and judging whether the characteristic parameters are abnormal or not;
when the optical fiber sensing network judges that the characteristic parameters are abnormal, positioning the abnormal sensing nodes and reporting abnormal information to the flight inspection robot;
after receiving the abnormal information, the flight inspection robot analyzes the abnormal information to obtain a monitoring area and arrives at the monitoring area, wherein the abnormal information comprises the monitoring area of the sensing node;
the flight inspection robot detects the monitoring area by using sensing equipment carried by the flight inspection robot, and interacts with a command center in real time to obtain information, so that the command center determines the position of a leakage point in a pipeline and a solution;
the command center sends the determined positions of the leaking points and the solution to the ground robot so that the ground robot can perform autonomous task allocation based on the positions of the leaking points and the solution, wherein the autonomous task allocation comprises the steps of determining the number of the leaking stoppage robots with pressure and the number of the ground transportation robots;
the ground transportation robot carries and transports the pressurized plugging robot to a leaking point position so that the pressurized plugging robot can cooperatively complete the pressurized plugging task;
after the pressurized plugging robot completes the pressurized plugging task, the pressurized plugging robot automatically gathers to the position of the ground inspection robot to complete the recovery operation.
Further, the optical fiber sensing network comprises a network formed by at least one sensing node, and each sensing node corresponds to one monitoring area.
Further, the characteristic parameters include temperature, sound, and humidity.
Further, the sensing device includes an infrared sensor, a visible light sensor, and a lidar.
A heterogeneous multi-agent belt pressure leakage blocking system based on 5G communication, the system comprises: the system comprises an optical fiber sensing network, a command center and heterogeneous multi-agents which are mutually connected through a 5G communication network, wherein the heterogeneous multi-agents comprise a flight inspection robot and a ground robot which are mutually connected through the 5G communication network, and the ground robot comprises an under-pressure leakage stoppage robot and a ground transportation robot;
the optical fiber sensing network is used for monitoring the characteristic parameters of the pipeline and judging whether the characteristic parameters are abnormal or not;
and the optical fiber sensing network is used for positioning the abnormal sensing node when judging the characteristic parameter is abnormal, and reporting abnormal information to the flight inspection robot;
the flight inspection robot is used for analyzing to obtain a monitoring area according to the abnormal information after receiving the abnormal information and arriving at the monitoring area, wherein the abnormal information comprises the monitoring area of the sensing node;
the monitoring area is detected by using the sensing equipment carried by the monitoring area, and the monitoring area and the command center interact with each other in real time to obtain information;
the command center is used for determining the position of the leaking point in the pipeline and a solution, and sending the determined position of the leaking point and the solution to the ground robot;
the ground transportation robot is used for performing autonomous task allocation based on the leakage point positions and the solution, wherein the autonomous task allocation comprises the determination of the number of the pressurized leakage stoppage robots and the number of the ground transportation robots;
the pressure leakage stoppage robot is used for carrying and transporting the pressure leakage stoppage robot to a leakage point position;
the under-pressure leakage stoppage robot is used for cooperatively completing an under-pressure leakage stoppage task, and automatically gathers to the position of the ground inspection robot after completing the under-pressure leakage stoppage task to complete recovery operation.
Further, the optical fiber sensing network comprises a network formed by at least one sensing node, and each sensing node corresponds to one monitoring area.
Further, the characteristic parameters include temperature, sound, and humidity.
Further, the sensing device includes an infrared sensor, a visible light sensor, and a lidar.
The invention has the beneficial effects that: the invention discloses a heterogeneous multi-agent under-pressure leakage blocking method and system based on 5G communication, which realize all-weather all-day real-time monitoring of leakage points and unmanned under-pressure leakage blocking operation. The invention firstly avoids the risk of personnel being hurt; secondly, real-time human-computer interaction and machine-computer interaction can be realized, a plurality of heterogeneous intelligent agents can better cooperate, a command center can master the real-time state and task completion condition of each intelligent agent at any time, and the flexibility of the system and the success rate of the pressurized plugging task are greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of a heterogeneous multi-agent belt pressure leakage blocking system based on 5G communication in the embodiment of the invention;
FIG. 2 is a schematic flow chart of a heterogeneous multi-agent belt pressure leakage blocking method based on 5G communication in the embodiment of the invention;
FIG. 3 is a schematic field view of a pipeline monitored by a fiber-optic sensor network according to an embodiment of the present invention.
Detailed Description
The conception, specific structure and technical effects of the present disclosure will be described clearly and completely with reference to the accompanying drawings and embodiments, so that the purpose, scheme and effects of the present disclosure can be fully understood. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Referring to fig. 1, an embodiment of the present invention provides a heterogeneous multi-agent belt pressure leakage blocking system based on 5G communication, where the system includes: the system comprises an optical fiber sensing network, a command center and heterogeneous multi-agents which are mutually connected through a 5G communication network, wherein the heterogeneous multi-agents comprise a flight inspection robot and a ground robot which are mutually connected through the 5G communication network, and the ground robot comprises an under-pressure leakage stoppage robot and a ground transportation robot;
the optical fiber sensing network is used for monitoring the characteristic parameters of the pipeline and judging whether the characteristic parameters are abnormal or not;
and the optical fiber sensing network is used for positioning the abnormal sensing node when judging the characteristic parameter is abnormal, and reporting abnormal information to the flight inspection robot;
the flight inspection robot is used for analyzing to obtain a monitoring area according to the abnormal information after receiving the abnormal information and arriving at the monitoring area, wherein the abnormal information comprises the monitoring area of the sensing node;
the monitoring area is detected by using the sensing equipment carried by the monitoring area, and the monitoring area and the command center interact with each other in real time to obtain information;
the command center is used for determining the position of the leaking point in the pipeline and a solution, and sending the determined position of the leaking point and the solution to the ground robot;
the ground transportation robot is used for performing autonomous task allocation based on the leakage point positions and the solution, wherein the autonomous task allocation comprises the determination of the number of the pressurized leakage stoppage robots and the number of the ground transportation robots;
the pressure leakage stoppage robot is used for carrying and transporting the pressure leakage stoppage robot to a leakage point position;
the under-pressure leakage stoppage robot is used for cooperatively completing an under-pressure leakage stoppage task, and automatically gathers to the position of the ground inspection robot after completing the under-pressure leakage stoppage task to complete recovery operation.
In a preferred embodiment, the optical fiber sensing network includes a network of at least one sensing node, and each sensing node corresponds to a monitoring area.
In a preferred embodiment, the characteristic parameters include temperature, sound and humidity.
In a preferred embodiment, the sensing devices include infrared sensors, visible light sensors and lidar.
Referring to fig. 2, an embodiment of the present invention further provides a method for performing pressurized plugging on heterogeneous multi-agent, where the method is applied to a pressurized plugging system, the pressurized plugging system includes an optical fiber sensing network, a command center and heterogeneous multi-agent that are connected to each other through a 5G communication network, the heterogeneous multi-agent includes a flight inspection robot and a ground robot that are connected to each other through the 5G communication network, and the ground robot includes a pressurized plugging robot and a ground transportation robot;
the method comprises the following steps:
s101, monitoring characteristic parameters of a pipeline by an optical fiber sensing network, and judging whether the characteristic parameters are abnormal or not;
in the prior art, optical fiber sensing includes two functions of sensing and transmitting an external signal (to be measured). The sensing (or sensitivity) means that the external signal changes the physical characteristic parameters of the light wave transmitted in the optical fiber according to the change rule, such as intensity (power), wavelength, frequency, phase and polarization state, to measure the change of the optical parameters, i.e. the change of the external signal is sensed. This "perception" is essentially the real-time modulation of the light wave propagating in the fiber by the external signal. The transmission means that the optical fiber transmits the light wave modulated by the external signal to the optical detector for detection, extracts the external signal from the light wave and processes data, i.e. demodulates, as required. Thus, the optical fiber sensing technology includes both modulation and demodulation technologies, i.e., a modulation technology (or loading technology) how an external signal (measured) modulates an optical wave parameter in an optical fiber and a demodulation technology (or detection technology) how the external signal (measured) is extracted from the modulated optical wave. In the prior art, the optical fiber sensing technology has hundreds of physical quantities, such as temperature, pressure, flow, displacement, vibration, rotation, bending, liquid level, speed, acceleration, sound field, current, voltage, magnetic field, radiation and the like, which realize sensing with different performances. In this embodiment, the optical fiber sensor network monitors characteristic parameters of temperature, sound and humidity by using the prior art.
S102, when the optical fiber sensing network judges that the characteristic parameters are abnormal, positioning a sensing node with the abnormality, and reporting abnormal information to the flight inspection robot;
with reference to fig. 3, when a pipeline leaks, the characteristic parameters monitored by the sensing nodes laid in the monitoring area where the leakage position is located may change abnormally, and the optical fiber sensing network locates the sensing nodes where the abnormal changes are detected, so as to generate abnormal information of the monitoring area including the sensing nodes; in a preferred embodiment, the optical fiber sensing network reports the abnormal information to the command center in real time through the 5G network, and based on the transmission characteristics of low delay, high bandwidth and large connection of the 5G network, the optical fiber sensing network and the command center can interact in real time, so that better cooperative cooperation can be performed.
S103, after receiving abnormal information, the flight inspection robot analyzes the abnormal information to obtain a monitoring area and arrives at the monitoring area, wherein the abnormal information comprises the monitoring area of the sensing node;
s104, detecting the monitoring area by the flight inspection robot through the sensing equipment carried by the flight inspection robot, and interacting the detected information with a command center in real time so that the command center can determine the position of a leakage point in the pipeline and a solution scheme;
in this embodiment, the flight inspection robot carries various sensing devices such as an infrared sensor, a visible light sensor and a laser radar, and interacts with a command center through a 5G network in real time to detect obtained information, and the command center searches and accurately locates a leakage point of a pipeline from a monitoring area according to the information detected by the sensing devices, accurately diagnoses a fault type of the leakage point, and obtains a specific solution based on the fault type.
S105, the command center sends the determined position of the leaking point and the solution to the ground robot, so that the ground robot can perform autonomous task allocation based on the position of the leaking point and the solution;
the automatic task allocation comprises the steps of determining the number of the pressurized leakage stoppage robots and the number of the ground transportation robots;
s106, carrying and transporting the under-pressure leakage stoppage robot to a leakage point position by the ground transportation robot so that the under-pressure leakage stoppage robot can cooperatively complete an under-pressure leakage stoppage task;
in a preferred embodiment, a plurality of pressure leakage blocking robots position leakage points and observe the leakage points through a plurality of sensors; and the system interacts with a command center through a 5G communication network so as to improve the operation success rate.
In this embodiment, since the autonomous task allocation of the pressure leak is determined by various factors such as the area of the leak point, the pressure of the liquid jet and the visibility, and the ground robots to be configured in each scheme have large differences, the number of the pressure leak robots and the number of the ground transportation robots need to be determined based on the location of the leak point and the solution, so as to realize the reasonable allocation of the ground robots.
In the embodiment, in order to reduce the energy consumption of the pressurized plugging robot, the ground transportation robot provides power and is responsible for carrying and transporting the pressurized plugging robot to the area where the leakage point is located.
In an improved embodiment, the pressure leakage blocking robot comprises a pressure leakage blocking operation robot and a pressure leakage blocking auxiliary robot.
And S107, after completing the under-pressure leakage stopping task, the under-pressure leakage stopping robot automatically gathers to the position of the ground inspection robot to complete the recovery operation.
The invention provides a heterogeneous multi-agent under-pressure leakage blocking method and system based on 5G communication for overcoming the defects of the traditional manual under-pressure leakage blocking operation, and the method and system realize all-weather all-day real-time monitoring of leakage points and unmanned under-pressure leakage blocking operation. The invention can greatly improve the tracking and positioning precision. Compared with the traditional manual pressure leaking stoppage method, the method firstly avoids the risk of personnel injury; secondly, the method can realize real-time human-computer interaction and machine-machine interaction based on the transmission characteristics of low time delay, high bandwidth and large connection of a 5G communication technology, not only can enable a plurality of heterogeneous intelligent agents to better cooperate, but also can enable a command center to master the real-time state and task completion condition of each intelligent agent at any time, and greatly improves the flexibility of the system and the success rate of the pressurized plugging task.
Based on the 5G communication technology, all the intelligent agents in the system are not limited by information transmission capacity any more, but are networked with a control center in real time as execution terminals, and tasks are issued to the intelligent agents at any time. The control center can carry out whole-course tracking on each intelligent body through the sensing ends such as audio and video, etc., control the track and state of each intelligent body in real time, and can carry out operations such as random interruption, recovery and adjustment on the executed task, thus improving the flexibility of the system.
Under the support of 5G high bandwidth, a plurality of AI algorithms which originally need to be locally operated can be transplanted to a control center arranged at a background cloud end, so that the operation load of heterogeneous multi-agents arranged at the front end is greatly reduced; moreover, the load is reduced, more sensors are conveniently added to the heterogeneous multi-agent, and the multi-dimensional sensing capability is improved; in addition, under the support of 5G, huge data of heterogeneous multi-agent bodies can be transmitted back to the control center in real time, and by means of huge computing power of a background, rapid, accurate and comprehensive AI analysis can be provided, so that accurate instructions can be given to the front-end agent bodies, and the efficiency of the operation of leaking stoppage under pressure is improved.
In a preferred embodiment, the optical fiber sensing network includes a network of at least one sensing node, and each sensing node corresponds to a monitoring area.
The at least one sensing node is laid in the area where the pipeline is located, so that the characteristic parameters of the pipeline can be monitored all day long and all weather, and the sensing nodes can be laid on key parts of the pipeline according to actual requirements so as to effectively monitor the characteristic parameters of the pipeline; and the sensing nodes can also be laid on the whole pipeline so as to comprehensively monitor the characteristic parameters of the pipeline.
In a preferred embodiment, the characteristic parameters include temperature, sound and humidity.
In a preferred embodiment, the sensing devices include infrared sensors, visible light sensors and lidar.
While the present invention has been described in considerable detail and with particular reference to a few illustrative embodiments thereof, it is not intended to be limited to any such details or embodiments or any particular embodiments, but rather it is to be construed that the invention effectively covers the intended scope of the invention by virtue of the prior art providing a broad interpretation of such claims in view of the appended claims. Furthermore, the foregoing describes the invention in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial modifications of the invention, not presently foreseen, may nonetheless represent equivalent modifications thereto.
Claims (8)
1. The method is characterized in that the method is applied to an under-pressure leakage blocking system, the under-pressure leakage blocking system comprises an optical fiber sensing network, a command center and heterogeneous multi-agents which are connected with one another through a 5G communication network, the heterogeneous multi-agents comprise a flight inspection robot and a ground robot which are connected with one another through the 5G communication network, and the ground robot comprises an under-pressure leakage blocking robot and a ground transportation robot;
the method comprises the following steps:
monitoring characteristic parameters of a pipeline by an optical fiber sensing network, and judging whether the characteristic parameters are abnormal or not;
when the optical fiber sensing network judges that the characteristic parameters are abnormal, positioning the abnormal sensing nodes and reporting abnormal information to the flight inspection robot;
after receiving the abnormal information, the flight inspection robot analyzes the abnormal information to obtain a monitoring area and arrives at the monitoring area, wherein the abnormal information comprises the monitoring area of the sensing node;
the flight inspection robot detects the monitoring area by using sensing equipment carried by the flight inspection robot, and interacts with a command center in real time to obtain information, so that the command center determines the position of a leakage point in a pipeline and a solution;
the command center sends the determined positions of the leaking points and the solution to the ground robot so that the ground robot can perform autonomous task allocation based on the positions of the leaking points and the solution, wherein the autonomous task allocation comprises the steps of determining the number of the leaking stoppage robots with pressure and the number of the ground transportation robots;
the ground transportation robot carries and transports the pressurized plugging robot to a leaking point position so that the pressurized plugging robot can cooperatively complete the pressurized plugging task;
after the pressurized plugging robot completes the pressurized plugging task, the pressurized plugging robot automatically gathers to the position of the ground inspection robot to complete the recovery operation.
2. The heterogeneous multi-agent belt pressure leakage blocking method based on 5G communication is characterized in that the optical fiber sensing network comprises a network formed by at least one sensing node, and each sensing node corresponds to one monitoring area.
3. The heterogeneous multi-agent belt pressure leakage blocking method based on 5G communication is characterized in that the characteristic parameters comprise temperature, sound and humidity.
4. The heterogeneous multi-agent belt pressure leakage blocking method based on 5G communication is characterized in that the sensing equipment comprises an infrared sensor, a visible light sensor and a laser radar.
5. A heterogeneous multi-agent under-pressure leakage blocking system based on 5G communication is characterized by comprising: the system comprises an optical fiber sensing network, a command center and heterogeneous multi-agents which are mutually connected through a 5G communication network, wherein the heterogeneous multi-agents comprise a flight inspection robot and a ground robot which are mutually connected through the 5G communication network, and the ground robot comprises an under-pressure leakage stoppage robot and a ground transportation robot;
the optical fiber sensing network is used for monitoring the characteristic parameters of the pipeline and judging whether the characteristic parameters are abnormal or not;
and the optical fiber sensing network is used for positioning the abnormal sensing node when judging the characteristic parameter is abnormal, and reporting abnormal information to the flight inspection robot;
the flight inspection robot is used for analyzing to obtain a monitoring area according to the abnormal information after receiving the abnormal information and arriving at the monitoring area, wherein the abnormal information comprises the monitoring area of the sensing node;
the monitoring area is detected by using the sensing equipment carried by the monitoring area, and the monitoring area and the command center interact with each other in real time to obtain information;
the command center is used for determining the position of the leaking point in the pipeline and a solution, and sending the determined position of the leaking point and the solution to the ground robot;
the ground transportation robot is used for performing autonomous task allocation based on the leakage point positions and the solution, wherein the autonomous task allocation comprises the determination of the number of the pressurized leakage stoppage robots and the number of the ground transportation robots;
the pressure leakage stoppage robot is used for carrying and transporting the pressure leakage stoppage robot to a leakage point position;
the under-pressure leakage stoppage robot is used for cooperatively completing an under-pressure leakage stoppage task, and automatically gathers to the position of the ground inspection robot after completing the under-pressure leakage stoppage task to complete recovery operation.
6. The heterogeneous multi-agent belt pressure leakage blocking system based on 5G communication is characterized in that the optical fiber sensing network comprises a network of at least one sensing node, and each sensing node corresponds to one monitoring area.
7. The heterogeneous multi-agent belt pressure leakage blocking system based on 5G communication is characterized in that the characteristic parameters comprise temperature, sound and humidity.
8. The heterogeneous multi-agent belt pressure leakage blocking system based on 5G communication is characterized in that the sensing equipment comprises an infrared sensor, a visible light sensor and a laser radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010993245.4A CN112254015A (en) | 2020-09-21 | 2020-09-21 | Heterogeneous multi-agent under-pressure leakage blocking method and system based on 5G communication |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010993245.4A CN112254015A (en) | 2020-09-21 | 2020-09-21 | Heterogeneous multi-agent under-pressure leakage blocking method and system based on 5G communication |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112254015A true CN112254015A (en) | 2021-01-22 |
Family
ID=74232645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010993245.4A Pending CN112254015A (en) | 2020-09-21 | 2020-09-21 | Heterogeneous multi-agent under-pressure leakage blocking method and system based on 5G communication |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112254015A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113405726A (en) * | 2021-06-23 | 2021-09-17 | 河南神马尼龙化工有限责任公司 | In-furnace leakage detecting and disturbance-free leakage blocking method under running state of boiler economizer |
| CN114542994A (en) * | 2022-02-24 | 2022-05-27 | 成都秦川物联网科技股份有限公司 | Internet of things three-dimensional visual management system for natural gas metering |
| CN114791056A (en) * | 2022-03-29 | 2022-07-26 | 江苏省特种设备安全监督检验研究院 | Buried PE pipe mobile intelligent detection method based on 5G and GPS technologies |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2277713A1 (en) * | 1998-09-23 | 2000-03-23 | Pipeline Integrity International, Inc. | A mapping system for the integration and graphical display of pipeline information that enables automated pipeline surveillance |
| CN106899823A (en) * | 2015-12-19 | 2017-06-27 | 西安成远网络科技有限公司 | A kind of oil pipeline inspection system |
| CN108006439A (en) * | 2017-11-07 | 2018-05-08 | 中国矿业大学(北京) | A kind of chemical industry dangerous gas leaks air-ground integrated monitoring and warning technology and equipment |
| CN109737264A (en) * | 2019-03-07 | 2019-05-10 | 北华大学 | Robot is intelligently blocked in brake type pipeline |
| CN109798415A (en) * | 2019-01-30 | 2019-05-24 | 华能汕头海门发电有限责任公司 | A kind of robot arm end effector for pressure sealing |
| CN110030499A (en) * | 2019-05-23 | 2019-07-19 | 美钻深海能源科技研发（上海）有限公司 | Online underwater oil and gas leakage safety monitoring device and method |
| CN111022936A (en) * | 2019-11-29 | 2020-04-17 | 汕头大学 | Pipeline leakage point positioning device, under-pressure leakage blocking device and pipeline leakage point positioning method |
-
2020
- 2020-09-21 CN CN202010993245.4A patent/CN112254015A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2277713A1 (en) * | 1998-09-23 | 2000-03-23 | Pipeline Integrity International, Inc. | A mapping system for the integration and graphical display of pipeline information that enables automated pipeline surveillance |
| CN106899823A (en) * | 2015-12-19 | 2017-06-27 | 西安成远网络科技有限公司 | A kind of oil pipeline inspection system |
| CN108006439A (en) * | 2017-11-07 | 2018-05-08 | 中国矿业大学(北京) | A kind of chemical industry dangerous gas leaks air-ground integrated monitoring and warning technology and equipment |
| CN109798415A (en) * | 2019-01-30 | 2019-05-24 | 华能汕头海门发电有限责任公司 | A kind of robot arm end effector for pressure sealing |
| CN109737264A (en) * | 2019-03-07 | 2019-05-10 | 北华大学 | Robot is intelligently blocked in brake type pipeline |
| CN110030499A (en) * | 2019-05-23 | 2019-07-19 | 美钻深海能源科技研发（上海）有限公司 | Online underwater oil and gas leakage safety monitoring device and method |
| CN111022936A (en) * | 2019-11-29 | 2020-04-17 | 汕头大学 | Pipeline leakage point positioning device, under-pressure leakage blocking device and pipeline leakage point positioning method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113405726A (en) * | 2021-06-23 | 2021-09-17 | 河南神马尼龙化工有限责任公司 | In-furnace leakage detecting and disturbance-free leakage blocking method under running state of boiler economizer |
| CN113405726B (en) * | 2021-06-23 | 2024-03-15 | 河南神马尼龙化工有限责任公司 | Method for leakage detection and disturbance-free leakage blocking in boiler under operation state of boiler economizer |
| CN114542994A (en) * | 2022-02-24 | 2022-05-27 | 成都秦川物联网科技股份有限公司 | Internet of things three-dimensional visual management system for natural gas metering |
| CN114791056A (en) * | 2022-03-29 | 2022-07-26 | 江苏省特种设备安全监督检验研究院 | Buried PE pipe mobile intelligent detection method based on 5G and GPS technologies |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112254015A (en) | Heterogeneous multi-agent under-pressure leakage blocking method and system based on 5G communication | |
| CN103235562B (en) | Transformer station is based on the comprehensive parameters detection system of crusing robot and method for inspecting | |
| CN110908370B (en) | Unmanned inspection task planning method and system for thermal power plant | |
| CN110388568B (en) | Intelligent inspection method, device and system for gas leakage | |
| CN106571689B (en) | Multi-data-source comparison technology diagnosis substation telemetry fault online monitoring system | |
| CN106787169B (en) | Method for diagnosing telemetering fault of transformer substation by using multiple data source comparison technology | |
| KR102021431B1 (en) | Instrument control equipment Remote monitoring and control system | |
| CN115473575B (en) | Optical cable pipeline monitoring method, device, equipment and storage medium based on dummy resources | |
| CN110940492A (en) | Optical cable state monitoring system and method based on DAS and OTDR | |
| CN107643147A (en) | A kind of steam leaks track and localization detection method and device | |
| CN115426036A (en) | Intelligent optical fiber link disposal system and method | |
| CN110808777B (en) | Fault management and control system and method for optical fiber communication network | |
| CN104794771A (en) | Tour spot inspection automatic planning method and apparatus | |
| CN111911815B (en) | Water pipeline safety early warning system based on optical fiber interferometer | |
| CN114274143A (en) | Intelligent identification method for centralized control operation defect image of intelligent robot group in thermal power plant | |
| CN101750572B (en) | Real-time safety monitoring method and system for high-voltage underground long-distance power supply cable | |
| Tri et al. | Design of working procedure for handling the breakdown machine in parameter of reaction time based on Jidoka system approach in cement company | |
| CN211234916U (en) | Optical cable state monitoring system based on DAS and OTDR | |
| CN210721134U (en) | Digit control machine tool remote monitering system | |
| CN116972957A (en) | Vibration detection method and system for power transmission GIL pipeline | |
| KR20200129868A (en) | Real-time sensing data processing system for smart factory and processing method the same | |
| CN104021637B (en) | Cable antitheft method based on distributed cable sensing and cable antitheft device based on distributed cable sensing | |
| CN113586960A (en) | Petroleum pipeline conveying monitoring system | |
| CN112432061A (en) | Pipeline leakage monitoring method and system | |
| CN219084138U (en) | Photovoltaic cable line monitoring system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210122 |
|
| RJ01 | Rejection of invention patent application after publication |