CN113902144A

CN113902144A - Underground pipeline chip detection method and system, storage medium and intelligent terminal

Info

Publication number: CN113902144A
Application number: CN202111147772.4A
Authority: CN
Inventors: 朱正毅; 冯庆
Original assignee: Hangzhou Yuege Technology Co ltd
Current assignee: Hangzhou Yuege Technology Co ltd
Priority date: 2021-09-29
Filing date: 2021-09-29
Publication date: 2022-01-07

Abstract

The application relates to an underground pipeline chip detection method, a system, a storage medium and an intelligent terminal, which relate to the field of pipeline detection technology and comprise the steps of obtaining the position of a parameter chip through pipeline number information, controlling a trolley to remove the position of the parameter chip to detect and identify the parameter chip so as to obtain corresponding pipeline parameters, determining the position of a standby chip according to the pipeline number information and the parameter chip position information if the pipeline parameter pipeline number information is not identified when the parameter chip is identified, and enabling the trolley to move to the standby chip to carry out identification and detection. This application has the effect that reads the pipeline parameter that makes the dolly can be comparatively convenient.

Description

Underground pipeline chip detection method and system, storage medium and intelligent terminal

Technical Field

The application relates to the field of pipeline detection technology, in particular to a method and a system for detecting underground pipeline chips, a storage medium and an intelligent terminal.

Background

In the process of city construction, underground piping plays important transportation effect, because underground piping's existence makes the transportation between each resource comparatively convenient, and the pipeline can appear damaged under long-time use, needs the staff to carry out regular testing and maintenance to the pipeline.

In the related art, in order to facilitate the staff to perform later inspection and maintenance on the pipeline, a chip with pipeline parameter information is implanted into the pipeline during the production process of the pipeline, and when the staff needs to perform maintenance on the pipeline, a pipeline trolley driving a data reading function is moved to a position corresponding to the chip to read data in the chip, so as to facilitate subsequent maintenance.

In order to reduce the possibility that the chips are stolen in the storage process, manufacturers implant the chips randomly in the pipeline production process, but the randomly implanted chips enable a subsequent trolley to be difficult to move to the positions of the chips in the detection process, so that parameters corresponding to the pipelines are not easy to obtain, and an improvement space is provided.

Disclosure of Invention

In order to enable the trolley to read the pipeline parameters conveniently, the application provides a detection method and system for an underground pipeline chip, a storage medium and an intelligent terminal.

In a first aspect, the present application provides a method for detecting an underground pipeline chip, which adopts the following technical scheme:

a method for detecting a chip of an underground pipeline comprises the following steps:

acquiring the number information of a pipeline preset in the pipeline;

matching the parameter chip position information stored in the preset parameter chip position database with the pipeline number information to determine the parameter chip position information corresponding to the pipeline number information;

controlling the trolley to move in a preset detection direction according to the position corresponding to the position information of the parameter chip and stay at the position corresponding to the position information of the parameter chip so as to identify the parameter chip;

judging whether the pipeline parameters are output or not when the parameter chip is identified;

if the pipeline parameters are output, the pipeline parameters are stored and the identification and detection of the current pipeline are completed;

if the pipeline parameters are not output, outputting abnormal chip positioning information at the position of the parameter chip position information, and matching the pipeline number information with the parameter chip position information according to the standby chip position information stored in a preset standby chip position database to determine the pipeline number information and the standby chip position information corresponding to the parameter chip position information;

controlling the trolley to move and stay to the position corresponding to the position information of the standby chip according to the position corresponding to the position information of the standby chip so as to identify the standby chip;

judging whether the pipeline parameters are output or not when the standby chip is identified;

if the pipeline parameters are not output, outputting abnormal chip positioning information at the position of the standby chip position information and warning.

By adopting the technical scheme, when the pipeline parameters need to be read when the trolley is detected, the pipeline serial number information preset in the pipeline is utilized to obtain the position of the parameter chip in the pipeline, so that the trolley can move to the position of the parameter chip for identification and detection, and the trolley can conveniently read the pipeline parameters; when the parameter chip is identified, if the pipeline parameter is not output, the parameter chip is damaged or the parameter chip is not in the corresponding position, the trolley cannot acquire the pipeline parameter through the parameter chip at the moment, the standby chip position information of the pipeline can be found by utilizing the parameter chip position information and the pipeline number information, and the trolley can be moved to the standby chip to acquire the pipeline parameter at the moment.

Optionally, when the parameter chip is identified and the pipeline parameter is not output, the moving method of the trolley includes:

acquiring direction parameter information from a position corresponding to the parameter chip position information to a position corresponding to the spare chip position information;

judging whether the direction corresponding to the direction parameter information is consistent with the detection direction;

if the direction corresponding to the direction parameter information is consistent with the detection direction, controlling the trolley to move and stay to the position corresponding to the position information of the standby chip according to the position corresponding to the position information of the standby chip, and performing identification detection;

and if the direction corresponding to the direction parameter information is inconsistent with the detection direction, numbering and positioning the position information of the standby chip, and finishing the identification and detection of the current pipeline.

Through adopting above-mentioned technical scheme, when not detecting the pipeline parameter in the position of parameter chip place, the dolly judges whether the position at reserve chip place is in the direction of detection on, if on the direction of detection, makes the dolly remove to reserve chip department discernment reserve chip at the in-process that removes to read the pipeline parameter, when not on the direction of detection, do not control the dolly and go reserve chip department, with the displacement who reduces the dolly, the energy saving.

Optionally, if the direction corresponding to the direction parameter information is not consistent with the detection direction, the method for identifying and detecting the spare chip includes:

acquiring current moving distance information of the trolley;

judging whether the distance corresponding to the moving distance information is consistent with the distance corresponding to the preset reference distance information or not;

if the distance corresponding to the moving distance information is consistent with the distance corresponding to the reference distance information, controlling the trolley to move along the opposite direction of the detection direction so as to identify and detect the spare chip at the position corresponding to the position information of the numbered and positioned spare chip;

and if the distance corresponding to the moving distance information is not consistent with the distance corresponding to the reference distance information, continuing to perform identification detection along the detection direction.

By adopting the technical scheme, when the detection direction is inconsistent with the position direction of the spare chip, the trolley is firstly moved by the reference distance along the detection direction, the reference distance is the total length of all pipelines, and after the trolley moves by the reference distance, the trolley is controlled to move in the opposite direction so as to move to the spare chip which is not detected for detection.

Optionally, when the trolley moves in the direction opposite to the detection direction and outputs the abnormal chip positioning information at the position where the spare chip position information is located, the method for acquiring the pipeline parameters includes:

analyzing and pairing the pipeline arrangement information and the numbered pipeline information stored in the preset numbered database to determine the adjacent numbered pipeline information adjacent to the current numbered pipeline information;

according to the adjacent numbered pipeline information, obtaining effective pipeline quantity information corresponding to the adjacent numbered pipeline information from the stored pipeline parameters;

judging whether the number corresponding to the effective pipeline number information is two or not;

if the number corresponding to the effective pipeline number information is two, matching the pipeline parameters stored in the preset parameter information database with the pipeline parameters of the pipeline corresponding to the adjacent numbered pipeline information to determine the pipeline parameters of the current pipeline, and defining the pipeline parameters of the current pipeline as the original pipeline parameters;

and if the number corresponding to the effective pipeline number information is not two, warning and outputting unidentified pipeline information.

Through adopting above-mentioned technical scheme, when the dolly detects spare chip and for detecting the pipeline parameter, can judge whether the adjacent pipeline of this pipeline has the acquisition pipeline parameter, if have, then the original pipeline parameter of comparison in the two adjacent pipeline parameters of accessible go the database in order to acquire this pipeline to the staff maintains this pipeline.

Optionally, if the number corresponding to the effective number of pipes is not two, the method for obtaining the original pipe parameter includes:

judging whether the number corresponding to the effective pipeline number information is one or not;

if the number corresponding to the effective pipeline number information is not one, warning;

if the number corresponding to the effective pipeline number information is one, judging whether the effective pipeline is in the direction opposite to the detection direction of the trolley or not;

if the effective pipeline is in the opposite direction of the detection direction of the trolley, warning is given;

if the effective pipeline is not in the opposite direction of the detection direction of the trolley, controlling the trolley to move along the opposite direction of the detection direction and move to the position corresponding to the position information of the standby chip of the adjacent pipeline for identification and detection, and judging whether to output the pipeline parameters;

if the pipeline parameters are output, matching the pipeline parameters stored in the parameter information database with the new pipeline parameters and the pipeline parameters of the effective pipelines to determine the original pipeline parameters of the pipelines corresponding to the unidentified pipeline information;

and if the pipeline parameters are not output, warning.

By adopting the technical scheme, if the number corresponding to the effective pipeline number information is not two, the condition that the pipeline parameters cannot be obtained through data pairing is described, at the moment, whether the pipeline lacking the pipeline parameters is the pipeline which passes through when the current pipeline is detected needs to be judged, if yes, the condition that the pipeline parameters of the current pipeline cannot be obtained is described, and if not, when the pipeline parameters of the next section of pipeline are detected, the pipeline parameters of the middle pipeline can be supplemented through the pipeline parameters of the adjacent pipeline.

Optionally, the method for verifying the pipeline parameter includes:

acquiring current pipeline image information in a pipeline and current moving length information of a trolley;

performing matching analysis according to the pipeline image information and preset connection port information to determine connection port information in the pipeline image information, and outputting a node identifier when the trolley is located at a position corresponding to the connection port information;

acquiring the pipeline number information corresponding to the adjacent node identification, and calculating the difference distance between the distances corresponding to the movement length information corresponding to the adjacent node identification;

judging whether the difference distance is consistent with the length in the pipeline parameters;

if the difference distance is consistent with the length in the pipeline parameters, outputting a correct signal;

and if the difference distance is inconsistent with the length in the pipeline parameters, outputting an abnormal signal.

By adopting the technical scheme, the pipeline parameters acquired by the trolley comprise the pipeline length of the pipeline, the pipeline length of the current pipeline is acquired through the adjacent node identification in the moving process of the trolley, and whether the pipeline parameters are correct or not can be judged by comparing the real length of the current pipeline with the length stored in the pipeline parameters.

Optionally, when the trolley moves in the pipeline, the lighting control method includes:

acquiring trolley state information and pipeline brightness information;

judging whether the trolley state information is consistent with preset moving state information or not;

if the trolley state information is inconsistent with the moving state information, continuing to recognize and detect;

if the trolley state information is consistent with the moving state information, starting a starting illuminating lamp preset on the trolley to illuminate the interior of the pipeline, and judging whether the brightness corresponding to the pipeline brightness information is smaller than the brightness corresponding to the preset reference brightness;

if the brightness corresponding to the pipeline brightness information is smaller than the brightness corresponding to the reference brightness, starting a standby illuminating lamp preset on the trolley to adjust the brightness inside the pipeline until the brightness corresponding to the pipeline brightness information is consistent with the brightness corresponding to the reference brightness;

and if the brightness corresponding to the pipeline brightness information is not less than the brightness corresponding to the reference brightness, the trolley continues to move.

Through adopting above-mentioned technical scheme, the in-process that the dolly detected in the pipeline, if the dolly is not mobile, need not to gather the inside image of pipeline this moment, need not the illumination, the energy has been saved, when the dolly removes with the inside image of gathering the pipeline, the dolly starts predetermined start-up light and makes luminance in the pipeline, so that the collection of image, when the luminance of starting the light did not reach the luminance that can gather better image, start reserve light and make luminance can satisfy the demand of shooing, in order to obtain better image.

In a second aspect, the present application provides an underground pipeline chip detection system, which adopts the following technical scheme:

an underground pipe chip detection system, comprising:

the acquisition module is used for acquiring the serial number information of the pipeline preset in the pipeline;

the processing module is connected with the acquisition module and the judgment module and used for storing and processing information;

the processing module matches the parameter chip position information stored in the preset parameter chip position database with the pipeline number information to determine the parameter chip position information corresponding to the pipeline number information;

the processing module controls the trolley to move in a preset detection direction according to the position corresponding to the position information of the parameter chip and stays at the position corresponding to the position information of the parameter chip so as to identify the parameter chip;

the judging module is used for judging whether to output the pipeline parameters when the parameter chip is identified;

if the judging module judges the output pipeline parameters, the processing module stores the pipeline parameters and completes the identification and detection of the current pipeline;

if the judging module judges that the pipeline parameters are not output, the processing module outputs abnormal chip positioning information at the position of the parameter chip position information and matches the pipeline number information with the parameter chip position information according to the standby chip position information stored in a preset standby chip position database so as to determine the pipeline number information and the standby chip position information corresponding to the parameter chip position information;

the processing module controls the trolley to move and stay at the position corresponding to the position information of the standby chip according to the position corresponding to the position information of the standby chip so as to identify the standby chip;

the judging module is used for judging whether to output the pipeline parameters when the standby chip is identified;

if the judging module judges that the pipeline parameters are not output, the processing module outputs abnormal chip positioning information at the position of the standby chip position information and warns.

By adopting the technical scheme, when the trolley is used for detection and pipeline parameters need to be read, the pipeline number information preset in the pipeline can be obtained through the acquisition module, and the position of the parameter chip in the pipeline is obtained through the processing module and the pipeline number information, so that the trolley can be moved to the position of the parameter chip for identification and detection, and the trolley can conveniently read the pipeline parameters; when the parameter chip is identified, whether the pipeline parameter is output or not is judged through the judging module, if the pipeline parameter is not output, the parameter chip is damaged or the parameter chip is not in the corresponding position, the pipeline parameter cannot be obtained through the parameter chip by the trolley, the position information of the standby chip of the pipeline can be found by utilizing the position information of the parameter chip and the pipeline number information, and the trolley can be moved to the standby chip to obtain the pipeline parameter.

In a third aspect, the present application provides an intelligent terminal, which adopts the following technical scheme:

an intelligent terminal comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and can execute any underground pipeline chip detection method.

By adopting the technical scheme, when the pipeline parameters need to be read when the trolley is detected by using the intelligent terminal, the position of the parameter chip in the pipeline is obtained by utilizing the pipeline serial number information preset in the pipeline, so that the trolley can move to the position of the parameter chip for identification and detection, and the trolley can conveniently read the pipeline parameters; when the parameter chip is identified, if the pipeline parameter is not output, the parameter chip is damaged or the parameter chip is not in the corresponding position, the trolley cannot acquire the pipeline parameter through the parameter chip at the moment, the standby chip position information of the pipeline can be found by utilizing the parameter chip position information and the pipeline number information, and the trolley can be moved to the standby chip to acquire the pipeline parameter at the moment.

In a fourth aspect, the present application provides a computer storage medium, which can store corresponding programs, and has a feature of enabling a cart to read pipeline parameters more conveniently, and adopts the following technical scheme:

a computer readable storage medium storing a computer program that can be loaded by a processor and executed to perform any of the underground pipeline chip inspection methods described above.

By adopting the technical scheme, the storage medium is provided with the computer program of the underground pipeline chip detection method, when the trolley is detected and the pipeline parameters need to be read, the position of the parameter chip in the pipeline is obtained by utilizing the pipeline serial number information preset in the pipeline, so that the trolley can move to the position of the parameter chip for identification and detection, and the trolley can conveniently read the pipeline parameters; when the parameter chip is identified, if the pipeline parameter is not output, the parameter chip is damaged or the parameter chip is not in the corresponding position, the trolley cannot acquire the pipeline parameter through the parameter chip at the moment, the standby chip position information of the pipeline can be found by utilizing the parameter chip position information and the pipeline number information, and the trolley can be moved to the standby chip to acquire the pipeline parameter at the moment.

In summary, the present application includes at least one of the following beneficial technical effects:

the trolley can read the pipeline parameters more conveniently by using the preset serial number of the pipeline;

when the pipeline is detected by the trolley, if the parameter chip and the standby chip are damaged, the original pipeline parameters of part of the pipeline can be inquired through the database, so that a worker can maintain the pipeline more conveniently;

the obtained pipeline parameters can be verified to judge whether the pipeline parameters are correct or not, so that the condition that the parameter chips are mistakenly installed and are not found is reduced, and the stability of the trolley during detection and maintenance is improved.

Drawings

FIG. 1 is a flow chart of a method for underground pipeline chip inspection.

Fig. 2 is a flowchart of a cart moving method.

Fig. 3 is a flowchart of a spare chip identification method.

Fig. 4 is a flowchart of a pipeline parameter acquisition method.

FIG. 5 is a flow chart of a method for raw pipe parameter acquisition.

FIG. 6 is a flow chart of a method for pipeline parameter verification.

Fig. 7 is a flowchart of a cart illumination control method.

FIG. 8 is a block flow diagram of a method for underground pipe chip inspection.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to fig. 1-8 and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The embodiments of the present invention will be described in further detail with reference to the drawings attached hereto.

The embodiment of the application discloses a method for detecting an underground pipeline chip, which enables a trolley to read pipeline parameters conveniently and facilitates maintenance and detection of pipelines.

Referring to fig. 1, the method flow of the underground pipeline chip detection comprises the following steps:

step S100: and acquiring the serial number information of the pipeline preset in the pipeline.

The pipeline number information is obtained by two-dimensional codes printed on the inner side wall of the pipeline, the positions of the two-dimensional codes in each pipeline are the same, and the pipeline number information stores the number corresponding to the pipeline and the information of the positions of the chip and the like, and is a conventional technical means of a person in the field and is not described again; the acquiring method includes that the trolley moves to a position corresponding to the two-dimensional code, and pipeline number information is acquired through instruments such as a camera and the like for acquiring images, and the acquiring method is a conventional technical means of a person in the field and is not described in detail.

Step S200: and matching the parameter chip position information stored in the preset parameter chip position database with the pipeline number information to determine the parameter chip position information corresponding to the pipeline number information.

The parameter chip position database is established by each produced pipeline, wherein the parameter chip comprises pipeline number information and corresponding parameter chip position information, the parameter chip is a chip for recording pipeline parameters, such as an IC card, and information can be read by a card reader specially reading the chip, the conventional technical means of the technical personnel in the field are omitted for redundancy, the parameter chip position information is information of the position of the parameter chip, the position is a certain position in the pipeline, and when the pipelines are connected with each other, all the parameter chips are positioned on the same horizontal line; the pipeline number information obtained by the trolley is paired with the pipeline number information in the parameter chip position database, so that the position of the parameter chip corresponding to the current pipeline can be obtained.

Step S300: and controlling the trolley to move in the preset detection direction and stay at the position corresponding to the position information of the parameter chip according to the position corresponding to the position information of the parameter chip so as to identify the parameter chip.

The detection direction is a direction which is set in advance and enables the trolley to detect the pipeline, and is set by a worker according to the actual situation, which is not described in detail; the control method is that a chip for receiving signals is arranged at the power source of the trolley, the chip is connected with an external remote controller, and a worker can control the chip through the remote controller, or the worker stores a program arranged in advance at the power source of the trolley, so that the trolley can run according to the program after being started, and the control method belongs to the conventional technical means of the workers in the field and is not repeated, and the specific control method is set by the worker according to the situation; the trolley is provided with a card reader for reading the parameter chip, the card reader is arranged on the mechanical arm, the mechanical arm is moved by a program set in advance, the conventional technical means of the technical personnel in the field are omitted, and when the trolley stays at a position corresponding to the position information of the parameter chip, the card reader can identify and read the parameter chip.

Step S400: and judging whether the pipeline parameters are output or not when the parameter chip is identified.

The pipeline parameters are various parameters of the pipeline, including material, pipe diameter, strength, thickness, length, production date, production unit, etc., and are set according to the actual production conditions, and are not described herein again, and the purpose of the judgment is to know whether the parameter chip can obtain the pipeline parameters when being identified, so as to facilitate the operation of the subsequent process.

Step S401: and if the pipeline parameters are output, storing the pipeline parameters and finishing the identification and detection of the current pipeline.

When the parameter chip is identified and outputs the pipeline parameters, the trolley acquires the pipeline parameters of the current pipeline, the identification and detection of the current pipeline are finished, the pipeline parameters are stored for facilitating the subsequent calling of the acquired pipeline parameters, and a memory for storing the pipeline parameters is a conventional technical means of a person skilled in the art and is not described in detail.

Step S402: if the pipeline parameters are not output, outputting abnormal chip positioning information at the position of the parameter chip position information, and matching the pipeline number information with the parameter chip position information according to the standby chip position information stored in the preset standby chip position database to determine the pipeline number information and the standby chip position information corresponding to the parameter chip position information.

When the parameter chip is identified and the pipeline parameter is not output, the parameter chip of the current pipeline is damaged or the position where the parameter chip is installed is not provided with the parameter chip, the parameter chip of the current pipeline is abnormal, and the abnormal position is positioned by the output abnormal chip positioning information so as to be convenient for the maintenance of subsequent workers; the standby chip position database is a database formed by arranging and combining a plurality of standby chip position information, a plurality of pipeline number information and a plurality of parameter chip position information, is a conventional technical means of persons in the field, and is not repeated, information is matched from the database through the pipeline number information and the parameter chip position information of a current pipeline to obtain corresponding standby chip position information, the standby chip position information records the position of the standby chip at the current pipeline, the data, the size, the shape and the like recorded by the standby chip and the parameter chip are completely consistent, the standby chip and the parameter chip are positioned on the same horizontal line, and the standby chips of all pipelines are positioned on the same horizontal line, so that the pipeline parameters can be read by the trolley conveniently.

Step S500: and controlling the trolley to move and stay to the position corresponding to the position information of the standby chip according to the position corresponding to the position information of the standby chip so as to identify the standby chip.

The control method is that a chip for receiving signals is arranged at the power source of the trolley, the chip is connected with an external remote controller, and a worker can control the chip through the remote controller, or the worker stores a program arranged in advance at the power source of the trolley, so that the trolley can run according to the program after being started, and the control method belongs to the conventional technical means of the workers in the field and is not repeated, and the specific control method is set by the worker according to the situation; the card reader which is carried on the trolley and used for reading the parameter chip can read the standby chip.

Step S600: and judging whether the standby chip is identified or not to output the pipeline parameters.

The purpose of judgment is to know whether the identified trolley of the standby chip can obtain the pipeline parameters or not so as to facilitate the subsequent processes.

Step S601: and if the pipeline parameters are output, storing the pipeline parameters and finishing the identification and detection of the current pipeline.

When the standby chip is identified and outputs the pipeline parameters, the trolley acquires the pipeline parameters of the current pipeline, the identification and detection of the current pipeline are finished at the moment, the pipeline parameters are stored for facilitating the subsequent calling of the acquired pipeline parameters, and a memory for storing the pipeline parameters is a conventional technical means of a person skilled in the art and is not described in detail.

Step S602: if the pipeline parameters are not output, outputting abnormal chip positioning information at the position of the standby chip position information and warning.

When the spare chip is identified and the pipeline parameters are not output, the spare chip indicating the current pipeline is damaged or the position of the spare chip is not installed, the pipeline parameters of the current pipeline can not be acquired by reading the chip at the moment, the alarm is sent out so that the worker can know the position, and the abnormal chip positioning information enables the worker to know the position of the spare chip which is damaged or not installed, so that the follow-up maintenance is facilitated.

Referring to fig. 2, when the parameter chip is identified and the pipeline parameter is not output, the moving method of the trolley comprises the following steps:

step S501: and acquiring direction parameter information from the position corresponding to the parameter chip position information to the position corresponding to the spare chip position information.

The position corresponding to the position information of the parameter chip and the position corresponding to the position information of the spare chip can be input into the corresponding coordinate axes in the computer, so that the computer can calculate the direction of the trolley moving from the position information of the parameter chip to the position information of the spare chip, and the information of the direction is recorded as the direction parameter information, thereby facilitating the movement of the trolley.

Step S502: and judging whether the direction corresponding to the direction parameter information is consistent with the detection direction.

The purpose of the judgment is to know whether the moving direction of the trolley is consistent with the preset detection direction when the trolley needs to move from the position of the parameter chip to the position of the standby chip, so that the subsequent detection of the trolley is facilitated.

Step S5021: and if the direction corresponding to the direction parameter information is consistent with the detection direction, controlling the trolley to move and stay to the position corresponding to the position information of the standby chip according to the position corresponding to the position information of the standby chip, and identifying and detecting.

When the direction corresponding to the direction parameter information is consistent with the detection direction, the trolley can be moved to the position of the standby chip in the normal detection process, the trolley can be controlled to move to the position of the standby chip to detect the standby chip at the moment, the trolley does not need to move reversely, the moving distance required by the trolley is reduced, and energy is saved.

Step S5022: and if the direction corresponding to the direction parameter information is inconsistent with the detection direction, numbering and positioning the position information of the standby chip, and finishing the identification and detection of the current pipeline.

When the direction corresponding to the direction parameter information is inconsistent with the detection direction, the trolley needs to move reversely when the trolley needs to move from the parameter chip to the standby chip, and the trolley needs to move for a longer distance at the moment and wastes energy, so that the identification and detection of the current pipeline are finished when the direction is inconsistent with the detection direction, so that the energy is saved; at this time, the position information of the standby chip where the current pipeline is located is numbered and positioned so as to facilitate subsequent detection, and the numbering and positioning are sequenced from bottom to top in the order of detection, which is a conventional technical means of a person skilled in the art and is not described in detail.

Referring to fig. 3, if the direction corresponding to the direction parameter information is not consistent with the detection direction, the method for identifying and detecting the spare chip includes:

step S503: and acquiring the current moving distance information of the trolley.

The method comprises the steps of obtaining the number of rotating turns of the trolley wheels through an angle sensor preset on the trolley wheels, and calculating the rotating distance of the trolley wheels according to the perimeter of the trolley wheels, wherein the distance is the current moving distance information of the trolley.

Step S504: and judging whether the distance corresponding to the moving distance information is consistent with the distance corresponding to the preset reference distance information.

The distance corresponding to the reference distance information is a fixed value set in advance by a worker, and the total length of all pipelines is judged to judge whether the trolley detects all pipelines or not so as to facilitate subsequent operation.

Step S5041: and if the distance corresponding to the moving distance information is consistent with the distance corresponding to the reference distance information, controlling the trolley to move along the opposite direction of the detection direction so as to identify and detect the spare chip at the position corresponding to the position information of the numbered and positioned spare chip.

When the distance corresponding to the moving distance information is consistent with the distance corresponding to the reference distance information, the detection of all the pipelines by the trolley is finished, at the moment, the trolley can be controlled to move along the opposite direction of the detection direction to detect the standby chips positioned by the serial numbers, and the detection sequence is sequenced from large to small so as to obtain the pipeline parameters of part of the pipelines.

Step S5042: and if the distance corresponding to the moving distance information is not consistent with the distance corresponding to the reference distance information, continuing to perform identification detection along the detection direction.

When the distance corresponding to the moving distance information is inconsistent with the distance corresponding to the reference distance information, the trolley does not finish the detection of the first wheel to all pipelines, and the trolley continues to move along the preset program so as to reduce the occurrence of the situation that the pipelines are not detected by the trolley.

Referring to fig. 4, when the trolley moves in the direction opposite to the detection direction and outputs abnormal chip positioning information at the position of the spare chip position information, the method for acquiring the pipeline parameters includes:

step S700: and analyzing and pairing the pipeline arrangement information and the numbered pipeline information stored in the preset numbered database to determine the adjacent numbered pipeline information adjacent to the current numbered pipeline information.

The serial number database records corresponding pipeline arrangement information and corresponding serial number pipeline information when all pipelines are connected, when the trolley moves in the opposite direction of the detection direction and the spare chip is not detected to detect the pipeline parameters, the serial number pipeline information of the pipeline is paired with the serial number pipeline information stored in the serial number database, the pairing method is a conventional technical means of technicians in the field, repeated description is omitted, serial number pipeline information of adjacent pipelines of the current pipeline can be determined through pairing, and the serial number pipeline information of the adjacent pipelines is the adjacent serial number pipeline information.

Step S701: and according to the adjacent numbered pipeline information, obtaining the effective pipeline quantity information corresponding to the adjacent numbered pipeline information from the stored pipeline parameters.

The effective pipelines are pipelines in order to detect pipeline parameters, which pipelines are adjacent to the current pipeline can be known according to adjacent numbered pipeline information, whether the adjacent pipelines are effective pipelines is confirmed from the stored obtained pipeline parameters after the adjacent pipelines are confirmed, the number of the effective pipelines is determined in a counting mode, the information of the number of the effective pipelines is recorded as the information of the number of the effective pipelines, and the counting mode is a conventional technical means of a person skilled in the art and is not described in detail.

Step S702: and judging whether the number corresponding to the effective pipeline number information is two or not.

The purpose of the judgment is to determine whether the adjacent pipelines of the current pipeline have all acquired the pipeline parameters, so that the pipeline parameters of the current pipeline can be acquired conveniently.

Step S7021: and if the number corresponding to the effective pipeline number information is two, matching the pipeline parameters stored in the preset parameter information database with the pipeline parameters of the pipeline corresponding to the adjacent numbered pipeline information to determine the pipeline parameters of the current pipeline, and defining the pipeline parameters of the current pipeline as the original pipeline parameters.

When the number corresponding to the effective pipeline number information is two, the two adjacent pipelines are described to measure the pipeline parameters, the parameter information database is a database which is established when all the pipelines are installed, the pipeline parameters when all the pipelines are produced are stored, all the pipeline parameters are arranged according to the installation sequence of the pipelines, the pipeline parameters of the two adjacent pipelines are matched with the pipeline parameters in the parameter information database, and then the pipeline parameters of the current pipeline can be determined, at the moment, the pipeline parameters of the current pipeline are the pipeline parameters corresponding to the production and are not the pipeline parameters corresponding to the maintenance and other operations, and the pipeline parameters are defined to be the original pipeline parameters.

Step S7022: and if the number corresponding to the effective pipeline number information is not two, warning and outputting unidentified pipeline information.

When the number corresponding to the effective pipeline number information is not two, it is indicated that at least one pipeline in the adjacent pipelines does not measure the pipeline parameters, at this time, the pipeline parameters of the current pipeline cannot be found out by a method of matching the pipeline parameters in the parameter information database, a warning is sent out to enable a worker to know the pipeline parameters, the subsequent maintenance is facilitated, and meanwhile, the output unidentified pipeline information is the information of the pipeline parameters which are not identified by the pipeline, and the pipeline is conveniently positioned by the subsequent worker.

Referring to fig. 5, if the number corresponding to the effective number of pipes information is not two, the method for obtaining the original pipe parameter includes:

step S703: and judging whether the number corresponding to the effective pipeline number information is one.

The purpose of the judgment is to confirm whether the adjacent pipelines of the current pipeline have no pipeline parameters, so that the pipeline parameters of the current pipeline can be acquired subsequently to perform other operations.

Step S7031: and if the number corresponding to the effective pipeline number information is not one, warning.

When the number corresponding to the effective pipeline number information is not one, it is indicated that the number corresponding to the effective pipeline number information is zero, and at this time, an adjacent pipeline of the current pipeline is detected when the trolley moves in the opposite direction of the detection direction, so that the pipeline parameters of the current pipeline cannot be obtained by matching the pipeline parameters of the adjacent pipeline, and a warning is sent to enable a worker to know the pipeline parameters, so that the worker can maintain the pipeline conveniently.

Step S7032: and if the number corresponding to the effective pipeline number information is one, judging whether the effective pipeline is in the direction opposite to the detection direction of the trolley.

When the number corresponding to the effective pipeline number information is one, the fact that one pipeline in the adjacent pipelines of the current pipeline measures the pipeline parameter is indicated, and the purpose of judgment is to know whether the effective pipeline is located at the position where the trolley has moved, so that subsequent judgment is facilitated.

Step S70321: and if the effective pipeline is positioned in the direction opposite to the detection direction of the trolley, warning.

When the effective pipeline is in the reverse direction of the detection direction of the trolley, the pipeline parameter of the pipeline passed by the trolley is not measured, the pipeline parameter of the adjacent pipeline cannot be matched to obtain the effective pipeline, and the alarm is sent to enable the staff to know so that the staff can maintain the effective pipeline later.

Step S70322: and if the effective pipeline is not in the opposite direction of the detection direction of the trolley, controlling the trolley to move along the opposite direction of the detection direction and move to the position corresponding to the position information of the standby chip of the adjacent pipeline for identification and detection, and judging whether to output the pipeline parameters.

When the effective pipeline is not in the opposite direction of the detection direction of the trolley, whether the pipeline parameter measured by the current pipeline is determined by the pipeline parameter of the pipeline to be moved next time is described, the trolley is controlled to move to the corresponding position to identify the standby chip at the moment, and the purpose of judgment is to judge whether the pipeline parameter can be output or not when the standby chip is identified so as to influence whether the pipeline parameters of other pipelines can be obtained or not.

Step S704: and if the pipeline parameters are output, matching the pipeline parameters stored in the parameter information database with the new pipeline parameters and the pipeline parameters of the effective pipelines to determine the original pipeline parameters of the pipelines corresponding to the unidentified pipeline information.

When the pipeline parameters are output, it is stated that the previous pipeline can be obtained by a pipeline parameter matching method, for example, a first pipe, a second pipe and a third pipe are sequentially connected, the pipeline parameters of the first pipe are known, if the pipeline parameters are not output when the first pipe passes through the second pipe, the pipeline parameters are output after the third pipe is detected, and data supplement can be performed on the pipeline parameters of the second pipe according to the pipeline parameters of the first pipe and the pipeline parameters of the third pipe, so that a worker can know the original pipeline parameters of the pipeline corresponding to the unidentified pipeline information.

Step S705: and if the pipeline parameters are not output, warning.

When the pipeline parameters are not output, the pipeline parameters cannot be filled up through the pipeline, and other pipelines which are not detected and identified are provided with the pipeline parameters, and a warning is sent to remind workers, so that the workers can maintain the pipeline conveniently.

Referring to fig. 6, the method for verifying the pipeline parameters includes:

step S800: and acquiring current pipeline image information in the pipeline and current moving length information of the trolley.

The current pipeline image information of the pipeline is shot by an appliance which is arranged on the trolley and used for shooting, such as a camera, and parameters such as size, direction, zooming and the like in the current pipeline image information are set and adjusted by the camera, which is common knowledge of technicians in the field and is not described any more; the current moving length information of the trolley is obtained by the angle sensor arranged on the wheel, and is common knowledge of the technicians in the field, and is not described in detail.

Step S801: and performing matching analysis according to the pipeline image information and preset connection port information to determine the connection port information in the pipeline image information, and outputting a node identifier when the trolley is located at the position corresponding to the connection port information.

The connector information is connector image information of two pipelines set in advance, the connector image information comprises information such as welding stripes and splicing stripes at the joints of the pipelines, the connector information in the pipeline image information can be determined through the pipeline image information and preset connector information for conventional technical means of technicians in the field without repeated description, when the connector information is determined by the trolley, the trolley can output the positions of the joints of the two pipelines, and the positions at the moment are node identifiers.

Step S802: and acquiring the pipeline number information corresponding to the adjacent node identification, and calculating the difference distance between the distances corresponding to the movement length information corresponding to the adjacent node identification.

The pipeline to which the two node identifiers correspond can be determined through the adjacent node identifiers, the difference distance is the difference of the distance corresponding to the moving length information of the trolley at the two node identifiers, the difference distance is obtained through computer subtraction, and the difference distance at the moment is the pipeline length of the corresponding pipeline.

Step S803: and judging whether the difference distance is consistent with the length in the pipeline parameters.

The purpose of the judgment is to know whether the measured length of the pipeline is consistent with the length of the pipeline parameter recorded in the chip of the pipeline, so as to verify the pipeline parameter subsequently.

Step S8031: if the difference distance is consistent with the length in the pipeline parameters, a correct signal is output.

When the difference distance is consistent with the length in the pipeline parameter, the obtained pipeline parameter is correct, and a correct signal is output to enable a worker to know.

Step S8032: and if the difference distance is inconsistent with the length in the pipeline parameters, outputting an abnormal signal.

When the difference distance is inconsistent with the length in the pipeline parameter, the obtained pipeline parameter is incorrect, the situation that the chip is misplaced or the chip information is not updated in time possibly occurs, and an abnormal signal is output at the moment so that a worker knows that the pipeline parameter obtained by the pipeline is incorrect, and the worker can conveniently correct and maintain the pipeline subsequently.

Referring to fig. 7, the method for controlling the illumination includes:

step S900: and acquiring the state information of the trolley and the brightness information of the pipeline.

The car state information is the working state of the car, and is two states, i.e. starting and stopping, and the pipeline brightness information is the corresponding brightness value in the pipeline, and is obtained by an instrument for measuring brightness, such as a photosensitive sensor, which is arranged on the car, and belongs to the common general knowledge of the skilled person, and is not described herein again.

Step S901: and judging whether the trolley state information is consistent with the preset moving state information or not.

The preset moving state information is information when the trolley is started, and comprises characteristics of power consumption, moving speed and the like, so that the occurrence of misjudgment is reduced, and the purpose of judgment is to know whether the trolley is in a starting state or not so as to facilitate the control of subsequent illumination brightness.

Step S9011: and if the trolley state information is inconsistent with the moving state information, continuing to recognize and detect.

When the trolley state information is inconsistent with the moving state information, the trolley is in a stop state, and the trolley is in a condition of starting the mechanical arm to detect the parameter chip or the standby chip at the moment.

Step S9012: and if the trolley state information is consistent with the moving state information, starting a starting illuminating lamp preset on the trolley to illuminate the interior of the pipeline, and judging whether the brightness corresponding to the pipeline brightness information is smaller than the brightness corresponding to the preset reference brightness.

When the trolley state information is consistent with the moving state information, the trolley is in a moving state, the trolley needs to collect images in the pipeline to judge the position of a connecting port, a starting illuminating lamp is turned on to illuminate the interior of the pipeline, so that a camera mounted on the trolley can collect clear images in the pipeline, the starting illuminating lamp is arranged on the trolley, the illuminating direction of the starting illuminating lamp is the same as the direction of the camera used for collecting images in the pipeline, and the brightness value corresponding to the starting illuminating lamp is constant; benchmark luminance is for the luminance that enables the camera and gather comparatively clear image that sets up in advance, is set for according to actual conditions by the staff, and the unnecessary repeated description is here, and the purpose of judgement is whether to enable the camera and gather comparatively clear image in order to learn the luminance that starts in the light start-up back pipeline to follow-up luminance is adjusted.

Step S90121: and if the brightness corresponding to the pipeline brightness information is smaller than the brightness corresponding to the reference brightness, starting a standby illuminating lamp preset on the trolley to adjust the brightness inside the pipeline until the brightness corresponding to the pipeline brightness information is consistent with the brightness corresponding to the reference brightness.

When the brightness corresponding to the pipeline brightness information is smaller than the brightness corresponding to the reference brightness, it is indicated that the brightness in the pipeline is not enough to enable the camera to shoot a clear image at the moment, the standby illuminating lamp is arranged on the trolley, the illumination direction of the standby illuminating lamp is the same as the illumination direction of the starting illuminating lamp, the brightness of the standby illuminating lamp changes according to the change of the working current, and the working current is obtained by the difference value between the brightness corresponding to the pipeline brightness information and the brightness corresponding to the reference brightness.

Step S90122: and if the brightness corresponding to the pipeline brightness information is not less than the brightness corresponding to the reference brightness, the trolley continues to move.

When the brightness corresponding to the pipeline brightness information is not less than the brightness corresponding to the reference brightness, the brightness of the starting illuminating lamp is enough for the camera to shoot a clear image, and at the moment, only the trolley is required to move continuously.

Referring to fig. 8, based on the same inventive concept, an embodiment of the present invention provides a system for detecting a chip of an underground pipeline, including:

if the judging module judges that the pipeline parameters are not output, the processing module outputs abnormal chip positioning information at the position of the standby chip position information and warns;

the trolley moving module is connected with the acquisition module, the judgment module and the processing module and is used for controlling the trolley to move when the parameter chip is identified and the pipeline parameters are not output;

the standby chip identification module is connected with the acquisition module, the judgment module and the processing module and is used for identifying and detecting the standby chip when the direction corresponding to the direction parameter information is inconsistent with the detection direction;

the pipeline parameter acquisition module is connected with the acquisition module, the judgment module and the processing module and is used for acquiring pipeline parameters when the trolley moves along the direction opposite to the detection direction and outputs abnormal chip positioning information at the position of the position information of the standby chip;

the original pipeline parameter acquisition module is connected with the acquisition module, the judgment module and the processing module and is used for acquiring the original pipeline parameters when the number corresponding to the effective pipeline number information is not two;

the verification module is connected with the acquisition module, the judgment module and the processing module and is used for verifying the pipeline parameters;

and the illumination control module is connected with the acquisition module, the judgment module and the processing module and is used for controlling illumination when the trolley moves in the pipeline.

It will be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.

The embodiment of the invention provides a computer readable storage medium, which stores a computer program capable of being loaded by a processor and executing an underground pipeline chip detection method.

Computer storage media include, for example: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Based on the same inventive concept, the embodiment of the invention provides an intelligent terminal, which comprises a memory and a processor, wherein the memory is stored with a computer program which can be loaded by the processor and can execute the underground pipeline chip detection method.

The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the application in any way, and any features disclosed in this specification (including the abstract and drawings) may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.

Claims

1. A method for detecting an underground pipeline chip is characterized by comprising the following steps:

acquiring the number information of a pipeline preset in the pipeline;

2. The underground pipeline chip detection method according to claim 1, characterized in that: when the parameter chip is identified and the pipeline parameters are not output, the moving method of the trolley comprises the following steps:

3. The underground pipeline chip detection method according to claim 2, characterized in that: if the direction corresponding to the direction parameter information is not consistent with the detection direction, the method for identifying and detecting the standby chip comprises the following steps:

acquiring current moving distance information of the trolley;

4. The underground pipeline chip detection method of claim 3, wherein: when the trolley moves along the direction opposite to the detection direction and outputs abnormal chip positioning information at the position of the standby chip position information, the pipeline parameter acquisition method comprises the following steps:

5. The underground pipeline chip detection method of claim 4, wherein: if the number corresponding to the effective pipeline number information is not two, the method for acquiring the original pipeline parameters comprises the following steps:

and if the pipeline parameters are not output, warning.

6. The underground pipeline chip detection method of claim 5, wherein: the verification method of the pipeline parameters comprises the following steps:

7. The underground pipeline chip detection method of claim 6, wherein: when the trolley moves in the pipeline, the control method of the illumination comprises the following steps:

acquiring trolley state information and pipeline brightness information;

8. An underground pipe chip detection system, comprising:

9. An intelligent terminal, comprising a memory and a processor, the memory having stored thereon a computer program that can be loaded by the processor and that executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, in which a computer program is stored which can be loaded by a processor and which executes the method of any one of claims 1 to 7.