CN117346764A - Pipeline detection method, system, terminal equipment and storage medium based on mileage wheels - Google Patents

Abstract

The application is applicable to the technical field of pipeline detection, and provides a pipeline detection method, a pipeline detection system, terminal equipment and a storage medium based on mileage wheels, wherein the method comprises the steps of obtaining real-time position information of a detector in a pipeline; acquiring first detection characteristic information of a detector in a pipeline and second detection characteristic information of a mileage wheel; and determining the position credibility information of the real-time position information according to the first detection characteristic information, the second detection characteristic information and a preset position credibility calculation formula, wherein the position credibility information is used for describing the credibility of the real-time position information. The method and the device can help the inspector to know the credibility of the positioning data, and are favorable for the inspector to comprehensively analyze the detection data of the detector in the pipeline.

Description

Pipeline detection method, system, terminal equipment and storage medium based on mileage wheel

Technical field

This application relates to the technical field of pipeline detection, specifically, to a pipeline detection method, system, terminal equipment and storage medium based on a mileage wheel.

Background technique

Pipeline transportation plays an important role in industrial development and urban modernization, and can bring huge economic benefits to industrial development and people's lives; in the transportation of energy such as oil or natural gas, pipeline transportation is usually used; Pipes that have been used for a long time may have quality defects, so the pipelines must be effectively inspected.

At present, the overall structure of the pipeline is complex and long and narrow, and an in-pipe detector equipped with a mileage wheel is usually used to detect the inner wall of the pipeline; the mileage wheel may have processing errors, wear and tear, slippage during detection, and jamming during detection. , so that there will be positioning errors in the positioning results of the mileage wheel; the detection distance of the detector in the pipeline is usually tens or hundreds of kilometers. The longer the detection distance of the detector in the pipeline, the greater the accumulated positioning error, and the accuracy of the positioning data The lower, the current lack of a pipeline detection method that can evaluate the credibility of positioning data, there is a problem that is not conducive to inspectors knowing the credibility of positioning data, and needs further improvement.

Contents of the invention

Based on this, embodiments of the present application provide a pipeline detection method, system, terminal device and storage medium based on mileage wheel to solve the problem in the existing technology that is not conducive to the detection personnel to know the credibility of the positioning data.

In the first aspect, embodiments of the present application provide a pipeline detection method based on mileage wheels, which is suitable for in-pipe detectors equipped with multiple mileage wheels. The method includes:

Obtain real-time location information of the detector in the pipeline;

Obtain the first detection feature information of the detector in the pipeline and the second detection feature information of the mileage wheel;

The location credibility information of the real-time location information is determined according to the first detection feature information, the second detection feature information and the preset location credibility calculation formula, where the location credibility information is expressed by To describe the credibility of the real-time location information.

Compared with the existing technology, the beneficial effects are: with the mileage wheel-based pipeline detection method provided by the embodiment of the present application, the terminal device can first obtain the real-time position information of the detector in the pipeline, and then obtain the first detection of the detector in the pipeline feature information and the second detection feature information of the mileage wheel, and then determine the location credibility information of the real-time location information based on the first detection feature information, the second detection feature information and the location credibility calculation formula. Through the location credibility The information accurately quantifies the credibility of real-time location information, provides inspectors with a reference quantity to know the credibility of positioning data, and solves to a certain extent the current problem that is not conducive to inspectors knowing the credibility of positioning data. .

In the second aspect, embodiments of the present application provide a pipeline detection system based on mileage wheels, which is suitable for in-pipe detectors. The in-pipe detectors are equipped with multiple mileage wheels. The system includes:

Real-time position information acquisition module: used to obtain real-time position information of the detector in the pipeline;

Detection feature information acquisition module: used to acquire the first detection feature information of the detector in the pipeline and the second detection feature information of the mileage wheel;

Location credibility information determination module: used to determine the location credibility information of the real-time location information based on the first detection feature information, the second detection feature information and the preset location credibility calculation formula, Wherein, the location credibility information is used to describe the credibility of the real-time location information.

In a third aspect, embodiments of the present application provide a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program Implement the steps of the method of the first aspect above.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium that stores a computer program. When the computer program is executed by a processor, the steps of the method of the first aspect are implemented.

It can be understood that the beneficial effects of the above-mentioned second aspect to the fourth aspect can be referred to the relevant description in the above-mentioned first aspect, and will not be described again here.

Description of drawings

In order to explain the technical solutions in the embodiments of the present application more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below.

Figure 1 is a schematic flow chart of a pipeline detection method provided by an embodiment of the present application;

Figure 2 is a schematic structural diagram of an in-pipeline detector provided by an embodiment of the present application;

Figure 3 is a schematic flowchart of step S200 in the pipeline detection method provided by an embodiment of the present application;

Figure 4 is a schematic flow chart after step S300 in the pipeline detection method provided by an embodiment of the present application;

Figure 5 is a module block diagram of a pipeline detection system provided by an embodiment of the present application;

Figure 6 is a schematic diagram of a terminal device provided by an embodiment of the present application.

Detailed ways

In the following description, for the purpose of explanation rather than limitation, specific details such as specific system structures and technologies are provided to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

In the description of this application and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the description, and shall not be understood as indicating or implying relative importance.

Reference in this specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Therefore, the phrases "in one embodiment", "in some embodiments", "in other embodiments", "in other embodiments", etc. appearing in different places in this specification are not necessarily References are made to the same embodiment, but rather to "one or more but not all embodiments" unless specifically stated otherwise. The terms “including,” “includes,” “having,” and variations thereof all mean “including but not limited to,” unless otherwise specifically emphasized.

In order to illustrate the technical solutions described in this application, specific examples are provided below.

Please refer to Figure 1 , which is a schematic flow chart of a pipeline detection method based on mileage wheel provided by an embodiment of the present application. In this embodiment, the execution subject of the pipeline detection method is a terminal device. It can be understood that the types of terminal devices include but are not limited to mobile phones, tablet computers, notebook computers, ultra-mobile personal computers (Ultra-Mobile Personal Computer, UMPC), netbooks, personal digital assistants (Personal Digital Assistant, PDA), etc. This application The embodiment does not place any restrictions on the specific type of terminal equipment.

Please refer to Figure 1. The pipeline detection method provided by the embodiment of the present application includes but is not limited to the following steps:

In S100, real-time position information of the detector in the pipeline is obtained.

Specifically, the real-time location information is used to describe the real-time location of the detector in the pipeline; the terminal device can obtain the real-time location information of the detector in the pipeline.

For example, please refer to Figure 2. This pipeline detection method is suitable for in-pipe detectors. The in-pipe detectors can be installed with multiple mileage wheels at equal intervals, and the multiple mileage wheels are arranged in a ring; in the pipeline detector detection process , the mileage wheel is in contact with the inner wall of the pipeline; the terminal device can determine the traveling distance of the detector in the pipeline through the number of rotations of the mileage wheel and the circumference of the mileage wheel, and then the terminal device can determine the distance traveled by the detector in the pipeline based on the detector in the pipeline Enter the initial position and travel distance of the pipeline to determine the real-time position information of the detector within the pipeline.

In S200, the first detection feature information of the detector in the pipeline and the second detection feature information of the mileage wheel are obtained.

Specifically, after the terminal device obtains the real-time location information, the terminal device can obtain the first detection feature information of the detector in the pipeline and the second detection feature information of the mileage wheel.

In some possible implementations, in order to help determine the credibility of the positioning data, please refer to Figure 3. Step S200 includes but is not limited to the following steps:

In S210, obtain the first detection feature information of the detector in the pipeline.

Specifically, the terminal device can first obtain the first detection feature information of the detector in the pipeline, where the first detection feature information includes calibration time interval information and calibration distance interval information, and the calibration time interval information is used to describe the distance of the detector in the pipeline The time interval of the last time the accurate position was determined. The calibration distance interval information is used to describe the distance between the detector in the pipeline and the last time the accurate position was determined; for example, when the detector in the pipeline just enters the pipeline and starts the detection work, the terminal The equipment can determine the position corresponding to the pipeline opening as the exact position of the detector in the pipeline. Then when the detector in the pipeline performs detection work in the pipeline for 72.5 minutes (i.e. 1 hour, 12 minutes and 30 seconds), the detector in the pipeline travels When the distance is 26.1 kilometers (that is, 26100 meters), the calibration time interval information can be 72.5; the calibration distance interval information can be 26.1.

In some possible implementations, in order to improve the scope of application of the pipeline detection method, the detection personnel can install an external positioning device on the ground on the upper side of the pipeline. The external positioning device can determine whether the detector in the pipeline passes through the external position based on the principle of magnetism. The location of the positioning device, the external positioning device is used to calibrate the exact position of the detector in the pipeline; because the walls of modern pipelines are getting thicker and thicker, and the penetration ability of the external positioning device into the pipeline is not strong, the external positioning device usually does not cover The entire pipeline. When the detector in the pipeline passes the location of the external positioning device, the terminal device can determine that the location of the external positioning device is the accurate position of the detector in the pipeline.

In S220, obtain the second detection feature information of the mileage wheel.

Specifically, after the terminal device obtains the first detection feature information, the terminal device can obtain the second detection feature information of the odometer wheel, where the second detection feature information includes cumulative usage time information and current usage time information, and the cumulative usage time information It is used to describe the cumulative usage time of the mileage wheel, and the current usage time information is used to describe the usage time of the mileage wheel in the current detection process.

In S300, the location credibility information of the real-time location information is determined based on the first detection feature information, the second detection feature information and the preset location credibility calculation formula.

Specifically, the location credibility information is used to describe the credibility of real-time location information; after the terminal device obtains the first detection feature information and the second detection feature information, the terminal device can combine the first detection feature information and the second detection feature information. The characteristic information is input into the preset location credibility calculation formula to determine the location credibility information of the real-time location information.

In some possible implementations, in order to accurately determine the credibility of the real-time location information, step S300 includes but is not limited to the following steps:

In S310, the first detection feature information and the second detection feature information are input into a preset location credibility calculation formula to determine the location credibility information of the real-time location information.

Specifically, the terminal device can input the first detection feature information and the second detection feature information into a preset location credibility calculation formula to accurately determine the location credibility information of the real-time location information.

In some possible implementations, the above location credibility calculation formula can be:

In the formula, Reliability _Lie represents the location reliability information. The greater the location reliability information, the lower the reliability of the real-time location information; Span _Time represents the calibration time interval information; Indicates the default first weight value,/> The value range represents 0.1 to 3. The first weight value can be selected according to the actual detection situation. For example, when the time interval between the detector in the pipeline and the last time the accurate position was determined is less than or equal to 2 minutes, the first weight value The weight value can be 0.1. When the time interval between the detector in the pipeline and the last time the accurate position was determined is less than or equal to 45 minutes, the first weight value can be 1.6. When the time interval between the detector in the pipeline and the last time the accurate position was determined is When it is greater than 45 minutes, the first weight value can be 3.

In the formula, Span _Space represents the calibration distance interval information; Slot _{Time_2} represents the current usage time information; Indicates accumulated usage time information;/> Represents the preset second weight value,/> The value range of represents 0.5 to 0.8. The second weight value can be selected according to the actual detection situation. For example, when the mileage wheel on the detector in the pipeline enters the pipeline for the first time after being manufactured, the detection work is performed. When , the current usage time information is equal to the cumulative usage time information, the value of the second weight value can be 0.8. When the cumulative usage time of the mileage wheel is greater than 4320 minutes, the value of the second weight value can be 0.5.

For example, when the first weight value is 3, the calibration time interval information is 72.5, the calibration distance interval information is 26.1, the second weight value is 0.5, the accumulated usage time information is 7200, and the current usage time information is 210, the position The credibility information can be 0.888; when the first weight value is 0.1, the calibration time interval information is 1.5, the calibration distance interval information is 0.54, the second weight value is 0.6, the cumulative usage time information is 2880 and the current usage time information is 1.5 When , the location credibility information can be 0.115.

In some possible implementations, in order to facilitate the inspection personnel to analyze the positioning data of the detector in the pipeline, please refer to Figure 4. After step S300, the method also includes but is not limited to the following steps:

In S400, the location credibility information is compared with a preset credibility threshold.

Specifically, after the terminal device determines the location credibility information of the real-time location information, the terminal device can compare the location credibility information with a preset credibility threshold, and the value of the credibility threshold can be 0.55.

In S410, if the location credibility information is greater than the credibility threshold, a suspicious data packet is generated based on the location credibility information and the real-time location information.

Specifically, if the location credibility information is greater than the credibility threshold, it means that the credibility of the real-time location information is low, and the terminal device can generate suspicious data packets based on the location credibility information and the real-time location information.

Without loss of generality, if the location credibility information is less than or equal to the credibility threshold, it means that the real-time location information has a high degree of credibility and the real-time location information has certain validity.

In S420, the suspicious data packet is sent to the designated terminal.

Specifically, after the terminal device generates a suspicious data packet, the terminal device can send the suspicious data packet to the designated terminal, which facilitates the detection personnel to analyze the positioning data of the detector in the pipeline.

In some possible implementations, in order to further facilitate the inspection personnel to analyze the positioning data of the detector in the pipeline, after step S410, the method also includes but is not limited to the following steps:

In S411, based on the preset pipeline distribution map, the real-time location information is highlighted to generate a highlighted pipeline map.

Specifically, the pipeline distribution map records the corresponding positions of multiple pipelines in the designated area; the terminal device can highlight the corresponding positions of the real-time location information in the pipeline distribution map based on the preset pipeline distribution map, and generate a high-resolution Bright pipeline map.

Accordingly, step S420 includes but is not limited to the following steps:

In S421, the suspicious data packet and the highlighted pipe map are sent to the designated terminal.

Specifically, after the terminal device generates a highlighted pipeline map, the terminal device can send the suspicious data packet and the highlighted pipeline map to the designated terminal, which further facilitates the detection personnel to analyze the positioning data of the detector in the pipeline.

The implementation principle of the pipeline detection method based on the mileage wheel in the embodiment of the present application is: the terminal device can first obtain the real-time position information of the detector in the pipeline, and then the terminal device can obtain the first detection characteristic information of the detector in the pipeline and the third detection characteristic information of the mileage wheel. second detection feature information, and then input the first detection feature information and the second detection feature information into the location credibility calculation formula to determine the location credibility information of the real-time location information, thereby providing the detection personnel with a way to know the positioning data. The reference quantity of the degree of credibility (i.e., the location credibility information) can accurately quantify the credibility of the real-time location information through the location credibility information, which is helpful for the detection personnel to know the credibility of the positioning data.

It should be noted that the sequence number of each step in the above embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any influence on the implementation process of the embodiment of the present application. limited.

Embodiments of this application also provide a pipeline detection system based on mileage wheels, which is suitable for detectors in pipelines. The detectors in pipelines are equipped with multiple mileage wheels. For convenience of explanation, only the parts related to this application are shown. As shown in Figure 5, the system 50 includes:

Real-time position information acquisition module 51: used to obtain real-time position information of the detector in the pipeline;

Detection feature information acquisition module 52: used to acquire the first detection feature information of the detector in the pipeline and the second detection feature information of the mileage wheel;

Location credibility information determination module 53: used to determine the location credibility information of the real-time location information based on the first detection feature information, the second detection feature information and the preset location credibility calculation formula, where the location credibility Degree information is used to describe the credibility of real-time location information.

Optionally, the above detection feature information acquisition module 52 includes:

The first detection feature information acquisition submodule: used to obtain the first detection feature information of the detector in the pipeline, where the first detection feature information includes calibration time interval information and calibration distance interval information;

The second detection feature information acquisition submodule is used to obtain the second detection feature information of the mileage wheel, where the second detection feature information includes accumulated usage time information and current usage time information.

Optionally, the above-mentioned location credibility information determination module 53 includes:

Location credibility information determination submodule: used to input the first detection feature information and the second detection feature information into the preset location credibility calculation formula to determine the location credibility information of the real-time location information;

Among them, the calculation formula of the above location credibility is:

In the formula, Reliability _Lie is the location reliability information. The greater the location reliability information, the lower the reliability of the real-time location information; is the default first weight value,/> The value range is 0.1 to 3; Span _Time is the calibration time interval information; Span _Space is the calibration distance interval information;/> is the preset second weight value,/> The value range is 0.5 to 0.8;/> It is the accumulated usage time information; Slot _{Time_2} is the current usage time information.

Optionally, the system 50 also includes:

Location credibility information comparison module: used to compare location credibility information with the preset credibility threshold;

Suspicious data packet generation module: used to generate suspicious data packets based on the location credibility information and real-time location information if the location credibility information is greater than the credibility threshold;

Suspicious data packet sending module: used to send suspicious data packets to designated terminals.

Optionally, the system 50 also includes:

Highlighted pipeline map generation module: used to highlight real-time location information based on a preset pipeline distribution map and generate a highlighted pipeline map. The pipeline distribution map records the corresponding positions of multiple pipelines in the designated area;

Correspondingly, the above suspicious data packet sending module includes:

Suspicious data packet sending submodule: used to send suspicious data packets and highlighted pipe maps to the designated terminal.

It should be noted that the information interaction, execution process, etc. between the above modules are based on the same concept as the method embodiments of this application. For details of their specific functions and technical effects, please refer to the method embodiments section, which will not be discussed here. Again.

An embodiment of the present application also provides a terminal device. As shown in Figure 6, the terminal device 60 of this embodiment includes: a processor 61, a memory 62, and a computer program stored in the memory 62 and capable of running on the processor 61. 63. When the processor 61 executes the computer program 63, it implements the steps in the above embodiment of the traffic processing method, such as steps S100 to S300 shown in Figure 1; or when the processor 61 executes the computer program 63, it implements the functions of each module in the above device, for example Figure 5 shows the functions of modules 51 to 53.

The terminal device 60 can be a computing device such as a desktop computer, a notebook, a handheld computer, a cloud server, etc. The terminal device 60 includes but is not limited to a processor 61 and a memory 62 . Those skilled in the art can understand that FIG. 6 is only an example of the terminal device 60 and does not constitute a limitation on the terminal device 60. It may include more or fewer components than shown in the figure, or some components may be combined, or different components may be used. For example, the terminal device 60 may also include input and output devices, network access devices, buses, etc.

The processor 61 may be a central processing unit (CPU), or other general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.; the general-purpose processor can be a microprocessor or the processor can be any conventional processor, etc.

The memory 62 can be an internal storage unit of the terminal device 60, such as a hard disk or memory of the terminal device 60. The memory 62 can also be an external storage device of the terminal device 60, such as a plug-in hard disk, a smart memory card ( Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc.; further, the memory 62 may also include both an internal storage unit of the terminal device 60 and an external storage device. The memory 62 may also include The computer program 63 and other programs and data required by the terminal device 60 can be stored, and the memory 62 can also be used to temporarily store data that has been output or is to be output.

An embodiment of the present application also provides a computer-readable storage medium that stores a computer program. When executed by a processor, the computer program can implement the steps of each of the above method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc.; the computer-readable medium can include: any entity or device that can carry the computer program code, Recording media, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (Read-OnlyMemory, ROM), random access memory (Random Access Memory, RAM), electrical carrier signal, telecommunications signal and software distribution media wait.

The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the methods, principles, and structures of the present application shall be covered by the scope of protection of the present application. Inside.

Claims (9)

1. A method for detecting a pipeline based on mileage wheels, which is applicable to an in-pipeline detector, wherein the in-pipeline detector is provided with a plurality of mileage wheels, and the method is characterized by comprising the following steps:

acquiring real-time position information of the detector in the pipeline;

acquiring first detection characteristic information of the detector in the pipeline and second detection characteristic information of the mileage wheel;

and determining the position credibility information of the real-time position information according to the first detection characteristic information, the second detection characteristic information and a preset position credibility calculation formula, wherein the position credibility information is used for describing the credibility of the real-time position information.

2. The method of claim 1, wherein the obtaining the first detection characteristic information of the in-pipe detector and the second detection characteristic information of the odometer wheel comprises:

acquiring first detection characteristic information of the detector in the pipeline, wherein the first detection characteristic information comprises calibration time interval information and calibration distance interval information;

and acquiring second detection characteristic information of the mileage wheel, wherein the second detection characteristic information comprises accumulated use time information and current use time information.

3. The method according to claim 2, wherein determining the position reliability information of the real-time position information according to the first detection feature information, the second detection feature information, and a preset position reliability calculation formula includes:

inputting the first detection characteristic information and the second detection characteristic information into a preset position credibility calculation formula, and determining position credibility information of the real-time position information;

the position credibility calculation formula is as follows:

in the formula, the Reliability _Lie The position credibility information is the position credibility information, and the larger the position credibility information is, the lower the credibility of the real-time position information is;for a preset first weight value, < +.>The value range of (2) is 0.1 to 3; span _Time For the calibration time interval information; span _Space For the calibration distance interval information; />For a preset second weight value, +.>The value range of (2) is 0.5 to 0.8; />The accumulated use time information is provided; slot (S.T.) _{Time_2} And the current use time information is obtained.

4. The method according to claim 1, wherein after the determining the position reliability information of the real-time position information according to the first detection feature information, the second detection feature information, and a preset position reliability calculation formula, the method further comprises:

comparing the position credibility information with a preset credibility threshold;

if the position credibility information is larger than the credibility threshold, generating suspicious data packets according to the position credibility information and the real-time position information;

and sending the suspicious data packet to a designated terminal.

5. The method of claim 4, wherein after generating suspicious packets from the location reliability information and the real-time location information if the location reliability information is less than the reliability threshold, the method further comprises:

performing highlighting processing on the real-time position information based on a preset pipeline distribution diagram to generate a highlighted pipeline map, wherein the pipeline distribution diagram records the positions of a plurality of pipelines corresponding to a designated area;

correspondingly, the sending the suspicious data packet to the designated terminal includes:

and sending the suspicious data packet and the highlight pipeline map to a designated terminal.

6. A mileage wheel-based pipe inspection system adapted for use with an in-pipe inspection system having a plurality of mileage wheels mounted thereon, the system comprising:

the real-time position information acquisition module is used for: the real-time position information of the detector in the pipeline is acquired;

the detection characteristic information acquisition module is used for: the method comprises the steps of acquiring first detection characteristic information of a detector in a pipeline and second detection characteristic information of a mileage wheel;

the position credibility information determining module: the position credibility information is used for determining the position credibility information of the real-time position information according to the first detection characteristic information, the second detection characteristic information and a preset position credibility calculation formula, wherein the position credibility information is used for describing the credibility of the real-time position information.

7. The system of claim 6, wherein the detection feature information acquisition module comprises:

the first detection characteristic information acquisition sub-module: the method comprises the steps of obtaining first detection characteristic information of a detector in a pipeline, wherein the first detection characteristic information comprises calibration time interval information and calibration distance interval information;

and a second detection characteristic information acquisition sub-module: and the second detection characteristic information is used for acquiring the mileage wheel, wherein the second detection characteristic information comprises accumulated use time information and current use time information.

8. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 5 when the computer program is executed.

9. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 5.