CN113983280B - Pipeline movement detection device and detection method - Google Patents
Pipeline movement detection device and detection method Download PDFInfo
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- CN113983280B CN113983280B CN202111348962.2A CN202111348962A CN113983280B CN 113983280 B CN113983280 B CN 113983280B CN 202111348962 A CN202111348962 A CN 202111348962A CN 113983280 B CN113983280 B CN 113983280B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/48—Indicating the position of the pig or mole in the pipe or conduit
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Pipeline Systems (AREA)
- Geophysics And Detection Of Objects (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The application discloses a pipeline movement detection device and a detection method, wherein the method comprises the following steps: the server acquires pipeline inspection information through the trolley; the server judges whether an obstacle exists in the pipeline according to the pipeline inspection information; if the obstacle exists, the server generates prompt information. According to the application, the trolley moves in the pipeline and acquires the pipeline inspection information, the server judges whether the pipeline is provided with the obstacle according to the pipeline inspection information, and the prompt information is generated when the pipeline is provided with the obstacle, so that the server can inspect the interior of the pipeline according to the pipeline inspection information, the problem of poor working efficiency when the pipeline is inspected manually is solved, and the inspection efficiency is increased.
Description
Technical Field
The application relates to the field of pipelines, in particular to a pipeline movement detection device and a detection method.
Background
At present, common pipeline mainly includes air pipe and sewer pipe, and wherein air pipe mainly used carries out the pipeline of circulation of air on the building, can effectively reduce the inside harmful gas's of building concentration, and the tuber pipe need examine the tuber pipe when the installation, and whether the judgement tuber pipe is installed firmly, whether produces the gap in the use, whether the tuber pipe check valve remains intact etc.. And in the detection process of the sewer pipe, the internal condition of the sewer pipe is required to be checked to judge whether foreign matters or impurities are present for plugging the sewer pipe, and whether more impurities are remained in the sewer pipe or not is judged.
In the related art, the sewer pipe is detected by adopting manual work in the past, and due to the technical development, the sewer pipe is detected by utilizing a remote control trolley, and the inside of the sewer pipe is shot by carrying a high-definition camera on the remote control trolley, so that the leakage condition in the sewer pipe can be analyzed in real time or through stored image information, and the remote control trolley and the influence information analysis all need personnel to participate.
With respect to the related art in the above, the inventors consider that there are the following drawbacks: in the related art, the detection of the sewer pipeline is required to be detected or checked in a manual checking mode, and because the environment in the sewer pipeline is sometimes complex, the environment is poorer while the sewer pipeline contains barriers, and more harmful gases are contained, so that the influence on the manual checking is larger, and the working efficiency is lower.
Disclosure of Invention
In order to solve the problem of poor working efficiency when a pipeline is inspected manually, the application provides a pipeline movement detection device and a pipeline movement detection method.
The application provides a pipeline movement detection device and a detection method, which adopt the following technical scheme:
a pipe movement detection method, comprising:
the server acquires pipeline inspection information through the trolley;
the server judges whether an obstacle exists in the pipeline according to the pipeline inspection information;
if the obstacle exists, the server generates prompt information.
Through adopting above-mentioned technical scheme, the dolly obtains pipeline inspection information when moving in the pipeline, and whether there is the barrier in the server judgement pipeline according to pipeline inspection information, generates prompt message when there is the barrier, makes the server inspect pipeline inside according to pipeline inspection information, and work efficiency is relatively poor's problem when improving manual inspection pipeline, increases inspection efficiency.
Optionally, before the obtaining the pipe inspection information by the trolley, the method includes:
acquiring pipeline setting information;
and setting a moving path of the trolley according to the pipeline setting information. .
By adopting the technical scheme, the pipeline setting information during pipeline laying can be acquired in advance, and the movement path of the trolley can be conveniently provided for the movement of the trolley.
Optionally, the step of making a moving path of the trolley according to the pipe setting information includes:
determining pipeline branch information and pipeline length information according to the pipeline setting information;
and setting a moving path of the trolley according to the pipeline branch information and the pipeline length information.
By adopting the technical scheme, the pipeline length information and the branch information of the trolley are planned information before pipeline laying, the pipeline branch information and the pipeline length information are determined through the pipeline setting information respectively, and the branch information of the trolley is conveniently specified according to the pipeline branch information and the pipeline length information.
Optionally, the obtaining the pipe inspection information by the trolley includes:
and when the trolley moves in the pipeline for inspection according to the moving path, acquiring pipeline inspection information sent by the trolley.
By adopting the technical scheme, the pipeline inspection information is the information acquired by the trolley in the pipeline internal movement process, and the pipeline inspection information comprises the information for reflecting the internal condition of the pipeline in the process of inspecting the pipeline.
Optionally, the judging, by the server, whether there is an obstacle in the pipeline according to the pipeline inspection information includes:
a server acquires the section shape information of a pipeline in front of the trolley;
and comparing the current pipeline section shape information with the historical pipeline section shape information and judging whether an obstacle exists in the pipeline according to the comparison result.
By adopting the technical scheme, the internal shape of the pipeline is fixed because the standard of completion is formulated before the pipeline is paved, the trolley can acquire the pipeline section shape information in the process of checking the pipeline, temporarily store the pipeline section shape information to form the historical pipeline section shape information, and compare the current section information of the pipeline with the historical pipeline section shape information to judge whether an obstacle is generated in the pipeline.
Optionally, comparing the current pipeline section shape information with the historical pipeline section shape information and judging whether the pipeline has an obstacle according to the comparison result includes:
comparing the current pipeline section shape information with the historical pipeline section shape information to generate a comparison result;
determining whether the comparison result is less than a threshold value,
if yes, judging that an obstacle exists in the pipeline;
if not, judging that no obstacle exists in the pipeline.
By adopting the technical scheme, the current pipeline section shape information and the historical pipeline section shape information are compared, and the obtained comparison result is compared with the threshold value by judging, so that the comparison result can be obtained by comparing the obtained comparison result with the threshold value.
Optionally, after the server generates the prompt information, the method further includes:
the server judges the size of the obstacle to acquire the size information of the obstacle;
the server acquires pipe diameter information of the pipeline and size information of the trolley;
the server judges whether the trolley can pass through according to the size information of the obstacle, the pipe diameter information of the pipeline and the size information of the trolley,
the method can pass through, and record the position information of the obstacle;
failing to pass, the server records the position information of the obstacle and reforms the moving path.
By adopting the technical scheme, the server still needs to detect remaining pipelines after generating prompt information, so that whether the trolley can pass through the pipeline or not is judged according to the size information of the obstacle and the pipe diameter information of the pipeline, namely the size information of the trolley, namely whether the obstacle blocks the trolley or not, and if the obstacle blocks the trolley, a moving path is formulated again to continuously detect the pipeline.
Optionally, the reformulating the moving path includes:
determining the current pipeline branch where the obstacle is located;
deleting the current pipeline branch from the pipeline branch information and loading the last pipeline branch;
the server drives the trolley to return to the last pipeline branch and detect along the last pipeline branch;
and acquiring the length information of the pipeline and the current electric quantity information of the trolley, judging whether the difference value between the consumed electric quantity and the residual electric quantity reaches a threshold value, and controlling the trolley to return along the original path of the pipeline by the server when the difference value reaches the threshold value.
Through adopting above-mentioned technical scheme, when the size of barrier is great, the dolly can not cross the barrier and continue to detect current pipeline, then the dolly can reform the travel route and detect the pipeline again in the electric quantity scope.
The pipeline movement detection device comprises a server and a trolley;
the server acquires pipeline inspection information through the trolley;
the server judges whether an obstacle exists in the pipeline according to the pipeline inspection information;
if the obstacle exists, the server generates prompt information.
Through adopting above-mentioned technical scheme, server and dolly communication connection, when the dolly was removed in the pipeline and is examined the pipeline, a plurality of pipeline inspection information of dolly birthday is received in real time to the server to can judge whether there is the barrier in the pipeline according to pipeline inspection information, avoid adopting the manual work to inspect the pipeline as far as possible, increase work efficiency.
Optionally, the trolley is provided with a communication structure, a moving structure, a detection structure and a positioning structure;
the positioning structure is used for generating position information according to the position of the trolley in the pipeline;
the detection structure is used for detecting the interior of the pipeline to respectively generate pipeline inspection information, pipeline section shape information, barrier size information and pipeline pipe diameter information;
the moving structure is driven by electric energy and is used for driving the trolley to move in the pipeline;
and the communication structure is used for communicating with the server to transmit corresponding information.
By adopting the technical scheme, the positioning structure determines that the position of the trolley in the pipeline generates position information, the detection structure detects the interior of the pipeline to respectively generate pipeline inspection information, pipeline section shape information, barrier size information and pipeline diameter information, the moving structure drives the trolley to move in the pipeline, and the communication structure and the server are in communication transmission of the position information, the pipeline inspection information, the pipeline section shape information, the barrier size information and the pipeline diameter information.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the trolley obtains pipeline inspection information when moving in the pipeline, and the server judges whether the pipeline is provided with an obstacle according to the pipeline inspection information, and generates prompt information when the obstacle is provided with the obstacle, so that the server can inspect the interior of the pipeline according to the pipeline inspection information, the problem that the working efficiency is poor when the pipeline is inspected manually is solved, and the inspection efficiency is improved.
Drawings
FIG. 1 is a flow chart of a pipeline movement detection method according to an embodiment of the present application;
FIG. 2 is a flow chart illustrating a method for detecting movement of a pipeline according to an embodiment of the present application before step S110;
FIG. 3 is a flowchart of step S220 in one embodiment of a method for detecting pipe movement according to the present application;
FIG. 4 is a flowchart of step S120 in one embodiment of a method for detecting movement of a pipeline according to the present application;
FIG. 5 is a flowchart of step S420 in one embodiment of a pipe movement detection method according to the present application;
FIG. 6 is a flowchart illustrating a pipeline movement detection method according to an embodiment of the present application after step S130;
fig. 7 is a flowchart of step S650 in an embodiment of a pipe movement detection method according to the present application.
Description of the embodiments
The present application will be described in further detail with reference to the accompanying drawings.
The embodiment of the application discloses a pipeline movement detection device and a detection method. Referring to fig. 1, the pipe movement detection method includes:
s110, the server acquires pipeline inspection information through the trolley.
The trolley can receive control signals of the server, detection equipment is mounted on the trolley to generate pipeline inspection information, the pipeline inspection information can be transmitted to the server in the process of inspecting pipelines, different information can be contained in the pipeline inspection information according to different use conditions of the pipelines, in the embodiment, when the pipelines are sewer pipelines, whether the pipelines are blocked by barriers in the pipelines can be included in the pipeline inspection information, and when the pipelines are pipelines such as air pipes, the pipeline inspection information can be information such as whether cracks are formed in the walls of the air pipes, whether air valves of the air pipes are damaged, whether blades of fans in the air pipes are kept intact or not.
S120, the server judges whether an obstacle exists in the pipeline according to the pipeline inspection information.
Wherein, in this embodiment the server judges whether there is the barrier in the pipeline according to pipeline inspection information, when the pipeline is sewer pipe, judge whether there is the barrier in the pipeline, more easily lead to causing the shutoff to pipeline inside when the barrier is more, sewage etc. in the messenger sewer pipe produce and pile up, when the pipeline is the tuber pipe, judge whether there is the barrier in the pipeline, when there is the barrier in the tuber pipe, because the inside air velocity of flow of tuber pipe is great, the air of flow can promote the barrier removal, lead to the damage to the pipeline fan when moving to fan department.
And S130, if the obstacle exists, the server generates prompt information.
The server identifies the size of the obstacle according to the pipeline inspection information by identifying the pipeline inspection information, and the prompt information generated according to the size of the obstacle is different, or the prompt information generated according to the volume of the obstacle and the plugging degree of the pipeline is different, for example, when the pipeline is traversed, the area of the cross section of the obstacle is different from the prompt information when the area of the cross section of the obstacle is one-half of the area of the inner ring of the pipeline.
The implementation principle of the pipeline movement detection method of the embodiment of the application is as follows: the trolley obtains pipeline inspection information when moving in the pipeline, and the server judges whether the pipeline is provided with an obstacle according to the pipeline inspection information, and generates prompt information when the obstacle is provided with the obstacle, so that the server can inspect the interior of the pipeline according to the pipeline inspection information, the problem that the working efficiency is poor when the pipeline is inspected manually is solved, and the inspection efficiency is improved.
Referring to fig. 2, before acquiring the pipe inspection information by the cart, the method comprises the steps of:
s210, acquiring pipeline setting information.
The pipeline setting information is information existing before construction and paving of the pipeline, the running sequence and the paving position of the pipeline are calculated and generated before the pipeline is paved, and the pipeline setting information comprises the inner diameter of the pipeline, the paving mode of the pipeline and the type of the pipeline, so that the pipeline is conveniently detected by using a trolley with a proper size.
S220, making a moving path of the trolley according to the pipeline setting information.
The moving path of the trolley is formulated according to the pipeline laying direction and the position in the pipeline setting information, so that the trolley can move according to the pipeline laying direction, and the interior of the pipeline is detected.
The implementation principle of the embodiment of the application is as follows: before the pipeline inspection information is acquired through the trolley, the pipeline setting information is required to be acquired, so that the laying mode of the pipeline, the inner diameter of the pipeline, the type of the pipeline and the like can be acquired, and the moving path of the trolley can be conveniently designated according to the pipeline setting information.
Referring to fig. 3, making a moving path of a cart according to pipe setting information includes:
s310, determining pipeline branch information and pipeline length information according to the pipeline setting information.
The pipeline branch information comprises the distribution range of pipeline branches, the positions of the pipeline branches and the like, and the pipeline length information comprises the lengths of the pipelines in the corresponding branches, so that the corresponding branches of the pipelines and the lengths of the corresponding branches are obtained.
S320, making a moving path of the trolley according to the pipeline branch information and the pipeline length information.
The moving path of the trolley moves a specified distance in the corresponding pipeline according to the pipeline moving information, for example, until reaching the pipeline branch, turns around the pipeline branch, and moves to the next branch pipeline, so that the trolley can move according to the moving path.
The implementation principle of the embodiment of the application for making the moving path of the trolley according to the pipeline setting information is as follows: before the trolley detects the pipeline, pipeline branch information and pipeline length information are determined according to the pipeline setting information, so that a moving path of the trolley can be formulated according to the pipeline branch information and the pipeline length information.
Obtaining pipeline inspection information by a trolley, comprising: and when the trolley moves in the pipeline for inspection according to the moving path, acquiring pipeline inspection information sent by the trolley.
The trolley moves in the pipeline according to the moving path, and the acquired pipeline inspection information is dynamically acquired, namely the server processes the pipeline inspection information acquired by the trolley and controls the trolley in real time.
Referring to fig. 4, the server judges whether there is an obstacle in a pipe according to pipe inspection information, including the steps of:
s410, the server acquires the section shape information of the pipeline in front of the trolley.
The cross-sectional shape information of the air duct is the cross-sectional shape of the inner ring of the air duct, and the cross-sectional information of the inner rings of different air ducts is different, for example, the cross-sectional shape of the inner ring of the air duct is generally rectangular, the width of the air duct is generally larger than the length, and the cross-sectional information of the inner ring of the sewer pipe is generally circular.
S420, comparing the current pipeline section shape information with the historical pipeline section shape information and judging whether an obstacle exists in the pipeline according to the comparison result.
The current pipeline section shape information is pipeline section information acquired in real time by a pipeline, the historical pipeline section information is section information of the pipeline crossed by the trolley, the historical pipeline section information can also be section information of the pipeline without a barrier, in general, when the trolley is not positioned at a corner of the pipeline, the current pipeline section shape information is the same as the historical pipeline section shape information, if the barrier exists in the pipeline, the existence of the barrier can change the section of the pipeline, a comparison result is a result generated by comparing the current pipeline section shape with the historical pipeline section shape, and when the upper end of the pipeline is in an irregular shape, the shape of the periphery of the pipeline and the shape of the lower end of the pipeline can also be compared to generate a comparison result. The comparison result is the similarity degree of the current pipeline section shape information and the historical pipeline section shape information.
The implementation principle of the server according to the embodiment of the application for judging whether the barrier exists in the pipeline according to the pipeline inspection information is as follows: when the server controls the trolley to move in the pipeline, the trolley acquires the front pipeline section shape information in real time and transmits the information to the server, and the server compares the current pipeline section shape information with the historical pipeline section shape information and judges whether an obstacle exists in the pipeline according to a comparison result.
Referring to fig. 5, comparing current pipe section shape information with historical pipe section shape information and judging whether there is an obstacle in the pipe with respect to the comparison result, comprising the steps of:
s510, comparing the current pipeline section shape information with the historical pipeline section shape information to generate a comparison result.
The comparison result is the difference between the current pipeline section shape information and the historical pipeline section shape information, and substances in the pipeline are in a dynamic balance state generally, namely, the water flow or gas circulation state in the pipeline is stable, so that the influence range on the section shape of the pipeline is small, the change of the pipeline section shape is smooth, and the comparison result generated by comparing the current pipeline section shape information with the historical pipeline section shape information only changes greatly when an obstacle or obvious pipeline damage exists in the pipeline.
S520, judging whether the comparison result is smaller than a threshold value.
The comparison result is a result generated by comparing the current pipeline section shape information with the historical pipeline section shape information, so when the historical pipeline section shape information is set to be two, the comparison result is also a first comparison result and a second comparison result respectively. The two pieces of historical pipeline section shape information are respectively historical pipeline section shape information generated by detecting the pipeline when no obstacle exists in the pipeline and pipeline section shape information detected in the previous period, and the threshold value is the ratio between the current pipeline section shape information and the historical pipeline section shape information when the obstacle which can obstruct the flow of water in the pipeline exists in the pipeline. Because the pipeline is paved in the middle of the change, when the shape of the obstacle in the pipeline is smoother, the first comparison result and the second comparison result are respectively compared with the threshold value, and whether the comparison result is smaller than the threshold value or not is judged, so that the obstacle recognition effect is better.
And S530, if yes, judging that the barrier exists in the pipeline.
S540, if not, judging that no obstacle exists in the pipeline.
The implementation principle of comparing the current pipeline section shape information with the historical pipeline section shape information and judging whether an obstacle exists in the pipeline according to the comparison result is as follows: comparing the current pipeline section shape information with the historical pipeline section shape information to generate a comparison result, judging that an obstacle exists in the pipeline if the comparison result is smaller than the threshold value, and comparing the first comparison result with the second comparison result respectively according to the difference of the historical pipeline section shape information to enable the identification effect of the obstacle to be better.
Referring to fig. 6, after the server generates the prompt message, the method further includes the following steps:
s610, the server judges the size of the obstacle to acquire the size information of the obstacle.
The size information of the obstacle in the present embodiment includes length information of the obstacle and width information of the obstacle, where the length information of the obstacle and the width information of the obstacle are information on a cross-sectional plane of the pipe, respectively, and are not information along an extending direction of the pipe.
S620, the server acquires pipe diameter information of the pipeline and size information of the trolley.
The pipe diameter of the pipe is the diameter of the section of the pipe, the pipe diameter information obtained when the section of the pipe is circular is the diameter information of the section of the pipe, the pipe diameter information obtained when the section of the pipe is rectangular is the width information and the length information of the pipe, namely the size information of the projection of the pipe along the extending direction of the pipe, and the size information of the trolley is the size information of the projection of the trolley along the extending direction of the pipe.
And S630, the server judges whether the trolley can pass through according to the size information of the obstacle, the pipe diameter information of the pipeline and the size information of the trolley.
The judging step is to identify the residual space of the pipeline under the blocking of the obstacle according to the size information of the obstacle and the pipe diameter of the pipeline to generate residual space information, wherein the residual space information comprises the size, the shape, the angle and the like of the residual space, and judge whether the trolley can pass through the residual space according to the size information of the trolley.
S640, the obstacle can pass through, and the position information of the obstacle is recorded.
S650, the server records the position information of the obstacle and reforms the moving path when the obstacle cannot pass.
The recorded position information of the obstacle is convenient for cleaning the obstacle, and the path information is reformulated to enable detection of other pipelines.
The implementation principle of the embodiment of the application is as follows:
referring to fig. 7, the reformulating of the moving path includes the steps of:
s710, determining the current pipeline branch where the obstacle is located.
The current pipeline branch where the obstacle is located can be determined by positioning the trolley.
S720, deleting the current pipeline branch from the pipeline branch information and loading the last pipeline branch.
Each pipeline branch is numbered before deleting the current pipeline branch, and when the pipeline branch has an obstacle which can not be spanned, the branch is deleted and loaded with the last pipeline branch, so that the trolley can return to the last pipeline branch.
And S730, the server drives the trolley to return to the last pipeline branch and detect along the last pipeline branch.
S740, acquiring the length information of the pipeline and the current electric quantity information of the trolley, judging whether the difference value between the consumed electric quantity and the residual electric quantity reaches a threshold value, and controlling the trolley to return along the original path of the pipeline by the server when the difference value reaches the threshold value.
The method comprises the steps that the obtained length information of the pipeline is the length information of the detected pipeline of the trolley, a server monitors the electric quantity of the trolley in real time in the moving process of the trolley, judges whether the trolley can return along the original pipeline within the current electric quantity range according to the length information and the current electric quantity information, the threshold value range is the difference value between the consumed electric quantity and the residual electric quantity, if the electric quantity is larger than the threshold value range, the server controls the trolley to continuously move and detect, if the electric quantity reaches the threshold value range, the server controls the trolley to return along the original pipeline, for example, when the threshold value range is set to ten percent, the server detects that the consumed electric quantity of the trolley is forty five percent, and the residual electric quantity of the trolley reaches the threshold value range when the residual electric quantity of the trolley is fifty five percent, and controls the trolley to return along the original detected pipeline, so that the residual electric quantity of the trolley is slightly larger than the consumed electric quantity of the trolley, the trolley can return by using the residual electric quantity, the condition that the trolley cannot return in time as much as possible is avoided, and the loss is reduced.
The implementation principle of reformulating the moving path in the embodiment of the application is as follows:
the pipeline movement detection device comprises a server and a trolley; the server acquires pipeline inspection information through the trolley; the server judges whether an obstacle exists in the pipeline according to the pipeline inspection information; if the obstacle exists, the server generates prompt information.
The trolley is provided with a communication structure, a moving structure, a detection structure and a positioning structure;
and the positioning structure is used for generating position information according to the position of the trolley in the pipeline. The positioning structure comprises a positioning chip, and the positioning chip generates position information by receiving satellite positioning signals and sends the position information to the server, so that the server can know the real-time position of the trolley.
And the detection structure is used for detecting the inside of the pipeline to respectively generate pipeline inspection information, pipeline section shape information, barrier size information and pipeline diameter information. When the sewer pipeline is detected, the detection structure comprises a laser radar, the laser radar performs three-dimensional scanning on the inside of the pipeline to generate a three-dimensional model of the inside of the pipeline, so that the obstacle inside the pipeline is identified. When detecting the tuber pipe, detect the structure and still include high definition camera and cold light source, throw light on in the pipeline through the cold light source, high definition camera discerns tuber pipe inner structure and generates the high definition picture to transmit the high definition picture to the server, the server discerns the high definition picture, makes the elasticity condition of judging the blast gate according to the high definition picture, and can discern the complete condition of judging the fan flabellum in the tuber pipe to the high definition picture, is convenient for maintain blast gate and fan.
And the communication structure is used for communicating with the server to transmit corresponding information. The communication structure comprises a 4G/5G communication unit which enables communication with the server.
And the moving structure is driven by electric energy and is used for driving the trolley to move in the pipeline. The mobile structure comprises a driving wheel, a load carrying platform, a driving motor and a battery pack, wherein the battery pack is arranged on the load carrying platform and supplies power for the driving motor, the driving motor is used for driving the driving wheel, the driving wheel and the driving motor are both arranged on the load carrying platform, and a control MCU (micro control unit) is further arranged on the load carrying platform and connected with the 4G/5G unit, so that the control signal sent by the server is conveniently received and the driving motor is conveniently controlled to move.
The embodiment of the application relates to a pipeline movement detection device and a detection method, which are implemented according to the following principles: the positioning structure determines that the position of the trolley in the pipeline generates position information, the detection structure detects the interior of the pipeline to generate pipeline inspection information, pipeline section shape information, barrier size information and pipeline pipe diameter information respectively, the moving structure drives the trolley to move in the pipeline, the communication structure communicates with the server to transmit the position information, the pipeline inspection information, the pipeline section shape information, the barrier size information and the pipeline pipe diameter information, and the control structure receives a control command sent by the server through the communication structure, so that the moving structure can be driven to drive the trolley to move integrally in the pipeline.
The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (2)
1. A pipeline movement detection method is characterized in that:
acquiring pipeline setting information;
setting a moving path of the trolley according to the pipeline setting information;
the server acquires pipeline inspection information through the trolley;
a server acquires the section shape information of a pipeline in front of the trolley;
comparing the current pipeline section shape information with the historical pipeline section shape information to generate a comparison result;
determining whether the comparison result is less than a threshold value,
if yes, judging that an obstacle exists in the pipeline;
if not, judging that no barrier exists in the pipeline;
if the obstacle exists, the server generates prompt information;
the server judges the size of the obstacle to acquire the size information of the obstacle;
the server acquires pipe diameter information of the pipeline and size information of the trolley;
the server judges whether the trolley can pass through according to the size information of the obstacle, the pipe diameter information of the pipeline and the size information of the trolley,
the method can pass through, and record the position information of the obstacle;
failing to pass, the server records the position information of the obstacle and reforms the moving path;
the two pieces of historical pipeline section shape information are respectively historical pipeline section shape information generated by detecting the pipeline when no obstacle exists in the pipeline and pipeline section shape information detected in a previous period of time;
the step of making the moving path of the trolley according to the pipeline setting information comprises the following steps:
determining pipeline branch information and pipeline length information according to the pipeline setting information;
setting a moving path of the trolley according to the pipeline branch information and the pipeline length information;
the reformulating the moving path includes:
determining the current pipeline branch where the obstacle is located;
deleting the current pipeline branch from the pipeline branch information and loading the last pipeline branch;
the server drives the trolley to return to the last pipeline branch and detect along the last pipeline branch;
and acquiring the length information of the pipeline and the current electric quantity information of the trolley, judging whether the difference value between the consumed electric quantity and the residual electric quantity reaches a threshold value, and controlling the trolley to return along the original path of the pipeline by the server when the difference value reaches the threshold value.
2. The method according to claim 1, characterized in that: the obtaining the pipeline inspection information by the trolley comprises:
and when the trolley moves in the pipeline for inspection according to the moving path, acquiring pipeline inspection information sent by the trolley.
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