CN112050088B - Pipeline detection method and device and computer storage medium - Google Patents
Pipeline detection method and device and computer storage medium Download PDFInfo
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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
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/005—Protection or supervision of installations of gas pipelines, e.g. alarm
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Abstract
The application discloses a pipeline detection device and a detection method, and belongs to the technical field of oil gas storage and transportation. In the embodiment of the application, at least one alarm signal generated in the process of moving in the pipeline by the pipeline quality detection module, the reporting time information of each alarm signal, the movement track information and the reporting time information of the movement track information are acquired. And determining the motion trail of the pipeline quality detection module in the pipeline according to the motion trail information. Because the reporting time information corresponds to the movement track information and the alarm signals correspond to the reporting time information, the position where the pipeline is deformed can be accurately determined according to at least one alarm signal, the reporting time information of each alarm signal, the movement track and the reporting time information of the movement track information, and further, the remediation efficiency when the pipeline is remedied can be improved.
Description
Technical Field
The application relates to the technical field of oil and gas storage and transportation, in particular to a pipeline detection method and device and a computer storage medium.
Background
After oil or gas is produced from the formation, it is necessary to transport the oil to a gas collection station or to transport the gas to a gas collection station via pipelines. In the transportation of oil or gas, it is necessary to detect whether the pipeline is deformed.
In the related art, the pipeline detection device comprises a pipeline quality detection module and a transmitter, wherein the pipeline quality detection module is connected with the transmitter and used for detecting whether the pipeline is deformed or not. When the pipeline to be detected is detected by the pipeline detection device, the pipeline detection device is placed in the pipeline to be detected, and then the pipeline detection device moves in the pipeline to be detected. When the pipeline quality detection module detects that the pipeline is deformed, the pipeline quality detection module triggers the transmitter to transmit signals outwards, constructors detect signals transmitted by the transmitter by using the detector, and the positions of the detected signals are used as positions where the pipeline is deformed. Because the signal emitted by the emitter can cover a range, the position where the pipeline is deformed cannot be accurately determined by the pipeline detection device.
Content of the application
The embodiment of the application provides a pipeline detection method, a pipeline detection device and a computer storage medium, which can accurately determine the position of deformation of a pipeline. The technical scheme is as follows:
in one aspect, a method for detecting a pipeline is provided, the method comprising:
acquiring at least one alarm signal, reporting time information of each alarm signal, motion trail information and reporting time information of the motion trail information, wherein the at least one alarm signal is generated when a pipeline is detected to deform in the process of moving in the pipeline by a pipeline quality detection module, and the motion trail information is used for indicating the motion trail of the pipeline quality detection module in the pipeline;
Determining the motion trail of the pipeline quality detection module in the pipeline according to the motion trail information;
and determining the position of the deformation of the pipeline according to the at least one alarm signal, the reporting time information of each alarm signal, the motion trail and the reporting time information of the motion trail information.
Optionally, the determining the location where the pipeline is deformed according to the at least one alarm signal, the reporting time information of each alarm signal, the motion trail and the reporting time information of the motion trail information includes:
establishing a corresponding relation between the motion trail and time according to the reporting time information of the motion trail information
And for a first alarm signal in the at least one alarm signal, acquiring a position corresponding to the first alarm signal from the corresponding relation between the motion trail and time according to the reporting time information of the first alarm signal, wherein the first alarm signal is one of the at least one alarm signal.
Optionally, the motion trail information includes angular velocity information, acceleration information, and distance information of the pipeline quality detection module moving in a first direction within the pipeline;
The determining the motion trail of the pipeline quality detection module in the pipeline according to the motion trail information comprises the following steps:
determining an initial motion track of the pipeline quality detection module in the pipeline according to the angular velocity information and the acceleration information;
and correcting the initial motion trail according to the distance information to obtain the motion trail.
Optionally, the correcting the initial motion trail according to the distance information to obtain the motion trail includes
Acquiring a motion track of the pipeline quality detection module in a first direction in the pipeline according to the initial motion track;
determining an error between the distance information and the motion trail in the first direction according to the distance information and the motion trail in the first direction;
and correcting the initial motion trail according to the error to obtain the motion trail.
In another aspect, there is provided a pipeline inspection device, the device comprising:
the device comprises an acquisition module, a pipeline quality detection module and a pipeline detection module, wherein the acquisition module is used for acquiring at least one alarm signal, reporting time information of each alarm signal, motion track information and reporting time information of the motion track information, the at least one alarm signal is generated when the pipeline is detected to be deformed in the process of moving in the pipeline by the pipeline quality detection module, and the motion track information is used for indicating the motion track of the pipeline quality detection module in the pipeline;
The first determining module is used for determining the motion trail of the pipeline quality detecting module in the pipeline according to the motion trail information;
and the second determining module is used for determining the position of the deformation of the pipeline according to the at least one alarm signal, the reporting time information of each alarm signal, the motion trail and the reporting time information of the motion trail information.
Optionally, the second determining module includes:
the establishing unit is used for establishing the corresponding relation between the motion trail and time according to the reporting time information of the motion trail information
The acquisition unit is used for acquiring the position corresponding to the first alarm signal from the corresponding relation between the motion trail and time according to the reporting time information of the first alarm signal for the first alarm signal in the at least one alarm signal, wherein the first alarm signal is one of the at least one alarm signal.
Optionally, the motion trail information includes angular velocity information, acceleration information, and distance information of the pipeline quality detection module moving in a first direction within the pipeline;
the first determining module includes:
The determining unit is used for determining an initial motion track of the pipeline quality detecting module in the pipeline according to the angular speed information and the acceleration information;
and the correction unit is used for correcting the initial motion trail according to the distance information to obtain the motion trail.
Optionally, the correction unit comprises
The acquisition subunit is used for acquiring the motion trail of the pipeline quality detection module in the first direction in the pipeline according to the initial motion trail;
a determining subunit for determining an error between the distance information and the motion track in the first direction according to the distance information and the motion track in the first direction
And the correction subunit is used for correcting the initial motion trail according to the error to obtain the motion trail.
In another aspect, there is provided a pipeline inspection device, the device comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the steps of any of the above-described pipeline detection methods.
In another aspect, a computer readable storage medium having instructions stored thereon which when executed by a processor perform the steps of any one of the above-described pipeline detection methods is provided.
In another aspect, a computer program product is provided containing instructions which, when run on a computer, cause the computer to perform the steps of any of the above-described pipeline detection methods.
The technical scheme provided by the embodiment of the application has the beneficial effects that:
in the embodiment of the application, at least one alarm signal generated in the process of moving in the pipeline by the pipeline quality detection module, the reporting time information of each alarm signal, the movement track information and the reporting time information of the movement track information are acquired. And determining the motion trail of the pipeline quality detection module in the pipeline according to the motion trail information. Because the reporting time information corresponds to the movement track information and the alarm signals correspond to the reporting time information, the position where the pipeline is deformed can be accurately determined according to at least one alarm signal, the reporting time information of each alarm signal, the movement track and the reporting time information of the movement track information, and further, the remediation efficiency when the pipeline is remedied can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a pipeline detection device according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an aftertreatment module according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a navigation module according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram of another navigation module according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of another pipeline inspection device according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of another pipeline inspection device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a power module according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a pipeline quality detection device according to an embodiment of the present application;
FIG. 9 is a flow chart of a method for detecting a pipeline according to an embodiment of the present application;
FIG. 10 is a schematic structural diagram of another pipeline inspection device according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of a terminal according to an embodiment of the present application.
Reference numerals:
1: a pipeline quality detection module; 2: a navigation module; 3: a timing module; 4: a post-processing module; 5: a mileage wheel; 6: a power module; 21: a gyroscope; 22: an accelerometer; 23: a damper; 41: an information storage circuit; 42: a data processing device; 61: and a power supply conversion circuit.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a pipeline detection device according to an embodiment of the present application. As shown in fig. 1, the device comprises a pipeline quality detection module 1, a navigation module 2, a timing module 3 and a post-processing module 4.
The pipeline quality detection module 1, the navigation module 2 and the timing module 3 are respectively connected with the post-processing module 4. The pipeline quality detection module 1 is used for detecting whether the pipeline is deformed or not, and when the pipeline is determined to be deformed, an alarm signal is reported to the post-processing module 4. The navigation module 2 is fixed on the pipeline quality detection module 1 and is used for determining the motion trail information of the pipeline quality detection module 1 and reporting the motion trail information to the post-processing module 4. The timing module 3 is used for recording the reporting time information of each alarm signal reported by the pipeline quality detection module 1 and the reporting time information of the motion trail information reported by the navigation module 2. The post-processing module 4 is configured to determine a position where the pipeline is deformed according to the received at least one alarm signal, the reporting time information of each alarm signal, the movement track information, and the reporting time information of the movement track information.
When the pipeline detection device and the pipeline detection method provided by the application are used for detecting the pipeline, the pipeline quality detection module is used for detecting whether the pipeline is deformed, and when the pipeline detection module determines that the pipeline is deformed, an alarm signal is reported to the post-processing module, and the timing module can record the reporting time information of the alarm signal. And the navigation module can determine the motion trail information of the pipeline quality detection module, and the navigation module reports the motion trail information to the post-processing module, and the timing module can record the reporting time information of the motion trail information. By such arrangement, the alarm signal corresponds to the reporting time information, and the movement track information of the pipeline quality detection module corresponds to the reporting time information. Since the reporting time information of each warning signal can be accurately recorded, and the reporting time information of the movement track can also be accurately recorded. After the post-processing module receives at least one alarm signal, the reporting time information of each alarm signal, the movement track information and the additional reporting time information of the movement track, the post-processing module can accurately determine the position where the pipeline is deformed, and further the remedying efficiency of the pipeline during remedying can be improved.
It should be noted that, when the post-processing module 4 determines the position where the pipeline is deformed according to the received at least one alarm signal, the reporting time information of each alarm signal, the motion track information, and the reporting time information of the motion track information, the post-processing device may perform filtering and iteration on the motion track information to determine an error of the motion track information, and may perform error correction on the motion track information according to the error. The filtering may be kalman filtering, but may also be other filtering, and embodiments of the present application are not limited herein.
In some embodiments, the pipeline quality detection module may be a pipeline quality detection device. When the pipeline quality detection module is pipeline quality detection equipment, the implementation manner that the pipeline quality detection module 1, the navigation module 2 and the timing module 3 are respectively connected with the post-processing module 4 may be as follows: the navigation module 2 and the timing module 3 post-processing module 4 can be fixed on the pipeline quality detection equipment, and the navigation module 2 and the timing module 3 can be connected with the post-processing module in a wired connection or wireless connection mode.
Of course, when the pipeline quality detection module is pipeline quality detection equipment, the navigation module, the timing module and the post-processing module can also be integrated together by using an FPC (Flexible Printed Circuit, flexible circuit board). In addition, the navigation module, the timing module and the post-processing module can be respectively and independently arranged at different idle positions for pipeline quality detection. The embodiments of the present application are not limited herein.
When the navigation module, the timing module and the post-processing module are respectively and independently arranged at different idle positions of the pipeline quality detection, the navigation module, the timing module and the post-processing module can be respectively connected through connecting wires. The wiring can use the flat cable to carry out serial communication.
In practical use of the pipeline inspection device provided by embodiments of the present application, in some embodiments, as shown in fig. 2, the post-processing module 4 may include an information storage circuit 41 and a data processing device 42. The information storage circuit 41 is used for storing at least one alarm signal, reporting time information of each alarm signal, movement track information and reporting time information of movement track information. The data processing device 42 is configured to obtain at least one alarm signal, reporting time information of each alarm signal, movement track information, and reporting time information of movement track information from the information storage circuit 41, and determine a position where the pipe is deformed according to the at least one alarm signal, the reporting time information of each alarm signal, the movement track information, and the reporting time information of the movement track information.
When the post-processing module 4 includes the information storage circuit 41 and the data processing device 42, the pipe quality detection module 1 is a pipe quality detection device, at this time, the data processing device may be a terminal. In this case, the pipe quality detecting device, the navigation module, and the timing module are respectively connected with the information storage circuit in the process of detecting the pipe. The pipe quality detection apparatus may send at least one alert signal to the information storage circuit. The navigation module may send motion trail information of the quality detection device to the information storage circuit. The timing module can send the reporting time information of each alarm signal and the reporting time information of the motion trail information of the quality detection equipment to the information storage circuit. The information storage circuit stores at least one alarm signal, movement trace information of the quality detection device, reporting time information of each alarm signal, and reporting time information of movement trace information of the quality detection device.
After the pipeline detection device finishes detecting the pipeline, the data processing device can download at least one alarm signal, the motion trail information of the quality detection device, the reporting time information of each alarm signal and the motion trail information of the quality detection device from the information storage circuit. And the data processing device can determine the position of the deformation of the pipeline according to at least one alarm signal, the reporting time information of each alarm signal, the movement track information and the reporting time information of the movement track information.
In addition, in some embodiments, the motion profile information may include angular velocity information and acceleration information. At this time, in order to be able to accurately determine the movement trace information of the pipe quality detection module, as shown in fig. 3, the navigation module 2 may include three gyroscopes 21 and three accelerometers 22. Three gyroscopes 21 and three accelerometers 22 are mounted on the pipe quality detection module 1, respectively. The three gyroscopes 21 are used for collecting angular velocity information of the pipeline quality detection module 1 in three different directions and reporting the collected angular velocity information to the post-processing module 4. The three accelerometers 22 are used for acquiring acceleration information of the pipeline quality detection module 1 in three different directions and reporting the acquired acceleration information to the post-processing module 4.
In some embodiments, three gyroscopes may be mounted in three different directions of a three-dimensional coordinate system with the center of the pipeline quality detection module as the origin. Wherein the three-dimensional coordinate system uses the gravity direction as the negative direction of the Z axis. At this time, three gyroscopes can collect angular velocity information in three directions perpendicular to each other of the pipeline quality detection module. Of course, the three gyroscopes may also be mounted in three different directions of the pipeline quality detection module, and embodiments of the present application are not limited herein.
The three different directions in which the three accelerometers are mounted on the pipeline quality detection module may refer to the three different directions in which the three gyroscopes are mounted on the pipeline quality detection module, and will not be described in detail herein.
In addition, in some embodiments, in order to make the measurement accuracy of the three gyroscopes and the three accelerometers higher, and to collect the angular velocity information and the acceleration information of the pipeline quality detection module in three different directions more accurately, the three gyroscopes 21 may be all laser gyroscopes, and the three accelerometers 22 may be all quartz flexible accelerometers.
Of course, the three gyroscopes may be other types of gyroscopes, and the three accelerometers may be other types of accelerometers, which are not limited herein.
In addition, since the pipeline quality detection module can vibrate when detecting the pipeline, after the pipeline quality detection module vibrates, the three accelerometers can vibrate along with the vibration of the pipeline quality detection module, which can affect the accuracy of the three accelerometers for collecting acceleration information in three different directions of the pipeline quality detection module. Thus, in some embodiments, as shown in fig. 4, the navigation module 2 may further include three shock absorbers 23, each shock absorber 23 being fixed to one accelerometer 22, each shock absorber 23 for reducing vibration of the corresponding accelerometer 22.
In addition, in some embodiments, each of the three dampers included in the navigation module may be fixed to the pipe quality detection module, and the direction in which the dampers are fixed may be the same direction in which the accelerometer is fixed, in which case the gyroscope may also be fixed.
In addition, in some embodiments, when the pipeline quality detection module detects a pipeline in the pipeline, the pipeline quality detection module may move in the pipeline, and at this time, the movement track information of the pipeline quality detection module may further include distance information that the pipeline quality detection module 1 moves in the first direction in the pipeline. At this time, as shown in fig. 5, the pipe quality detecting apparatus may further include a mileage wheel 5, and the mileage wheel 5 is connected with the post-processing module 4. The mileage wheel 5 is fixed on the pipeline quality detection module 1 and is used for collecting distance information of the pipeline quality detection module 1 moving in the first direction.
In addition, because the distance information that the mileage wheel gathered is comparatively accurate, in order to make the post-processing module take place the position that warp according to the pipeline that motion trail information confirmed more accurate, the direction of the acceleration that one accelerometer gathered in three accelerometers that the navigation module included was the same with first direction.
When the first direction is the same as the direction of acceleration acquired by one of the three accelerometers included in the navigation module, the acceleration information in the direction can obtain distance information after twice integration, and errors can be generated in the integration process, so that the distance information in the direction can be inaccurate. Therefore, the distance information determined by the acceleration information in the direction can be corrected according to the distance information acquired by the mileage wheel, so that the motion trail information of the finally determined pipeline quality detection module is accurate.
In addition, in order to ensure that the navigation module, the timing module and the post-processing module are always in operation while the pipeline inspection device is inspecting the pipeline, the pipeline inspection device may further include a power module 6 as shown in fig. 6 in some embodiments. The power module 6 is fixed on the pipeline quality detection module 4. The power module 6 is connected with the navigation module 2, the timing module 3 and the post-processing module 4 respectively.
When the pipeline detection device comprises a power supply module, the power supply module can continuously supply power to the navigation module, the timing module and the post-processing module, so that the navigation module, the timing module and the post-processing module cannot be disabled without power supply.
In addition, when using the pipeline inspection device provided in the embodiment of the present application, since the external power source may not match the power source required by the navigation module, the timing module, and the post-processing module, in some embodiments, as shown in fig. 7, the power source module 6 may include a power source conversion circuit 61. The power conversion circuit 61 is used for converting an external power source to supply power to the navigation module 2, the timing module 3 and the post-processing module 4.
For example, the power module may convert an external 17-19 volt power supply to a secondary power supply to power the navigation module, the timing module, and the post-processing module.
It should be noted that, in the embodiment of the present application, the combination of the three accelerometers, the three gyroscopes, the power module and the shock absorber may be referred to as an inertial navigation measurement unit.
In addition, when the pipeline does not transport oil or natural gas yet, the pipeline is detected by using the pipeline detection device provided by the embodiment of the application. The pipeline detection device provided by the embodiment of the application can also be used for detecting the pipeline in the process of transporting the oil or the natural gas through the pipeline. Pipelines have not yet transported oil or gas, and may also be referred to as pre-pipeline production.
The working principle of the pipeline detection device provided by the application is specifically described below.
As shown in fig. 8, when the pipe quality detecting device detects a pipe, the three accelerometers and the three gyroscopes collect acceleration information and angular velocity information in three different directions of the pipe quality detecting module, respectively, and send the acceleration information and angular velocity information in the three different directions to the information storage circuit. The mileage wheel sends the acquired distance information in the first direction to the information storage circuit. The timing module sends the reporting time information of each alarm signal and the reporting time information of the motion trail information of the pipeline quality detection module to the information storage circuit. The information storage circuit stores all the received information. When the pipeline quality detection device detects the end of the pipeline, the data processing device can download all the information stored in the information storage circuit from the information storage circuit, and determine the position where the pipeline is deformed according to all the downloaded information. In addition, the power module continuously supplies power to the three gyroscopes, the three accelerometers, the timing module and the mileage wheel during the pipeline detection device detects the pipeline.
When the pipeline detection device and the pipeline detection method provided by the embodiment of the application are used for detecting the pipeline, the pipeline quality detection module is used for detecting whether the pipeline is deformed, and when the pipeline detection module determines that the pipeline is deformed, an alarm signal is reported to the post-processing module, and the timing module can record the reporting time information of the alarm signal. And the navigation module can determine the motion trail information of the pipeline quality detection module, and the navigation module reports the motion trail information to the post-processing module, and the timing module can record the reporting time information of the motion trail information. By such arrangement, the alarm signal corresponds to the reporting time information, and the movement track information of the pipeline quality detection module corresponds to the reporting time information. Since the reporting time information of each warning signal can be accurately recorded, and the reporting time information of the movement track can also be accurately recorded. After the post-processing module receives at least one alarm signal, the reporting time information of each alarm signal, the movement track information and the additional reporting time information of the movement track, the post-processing module can accurately determine the position where the pipeline is deformed, and further the remedying efficiency of the pipeline during remedying can be improved.
Fig. 9 is a flowchart of a method for pipeline detection according to an embodiment of the present application. As shown in fig. 9, the method includes:
step 901: at least one alarm signal, reporting time information of each alarm signal, motion trail information and reporting time information of the motion trail information are obtained.
The at least one alarm signal is generated when the pipeline is detected to deform in the process of moving in the pipeline by the pipeline quality detection module, and the movement track information is used for indicating the movement track of the pipeline quality detection module in the pipeline.
In some embodiments, the post-processing module may send the received at least one alert signal, the reporting time information of each alert signal, the motion estimation information, and the reporting time information of the motion profile information to the terminal.
Step 902: and determining the motion trail of the pipeline quality detection module in the pipeline according to the motion trail information.
In some embodiments, the motion profile information may include angular velocity information, acceleration information, and distance information that the pipeline quality detection module moves in a first direction within the pipeline. At this time, the implementation manner of step 902 may be: and determining an initial motion track of the pipeline quality detection module in the pipeline according to the angular speed information and the acceleration information. And correcting the initial motion trail according to the distance information to obtain the motion trail.
In some embodiments, according to the angular velocity information and the acceleration information, the implementation manner of determining the initial motion track of the pipeline quality detection module in the pipeline may be: and integrating three angular velocity information of the pipeline quality detection module in three different directions respectively to obtain three angle information of the pipeline quality detection module in three different directions, and synthesizing the three angle information to obtain the actual movement direction of the pipeline quality detection module in the pipeline. And integrating the three acceleration information in three different directions of the pipeline quality detection module twice to obtain three distance information in three different directions of the pipeline quality detection module, and synthesizing the three distance information to obtain the actual movement distance of the pipeline quality detection module in the pipeline. After determining the actual movement distance and the actual movement direction of the pipeline quality detection module in the pipeline, the initial movement track of the pipeline quality detection module can be determined.
In addition, in other embodiments, according to the angular velocity information and the acceleration information, the implementation manner of determining the initial motion track of the pipeline quality detection module in the pipeline may be: and filtering and iterating the angular velocity information and the acceleration information of the pipeline quality to determine the error of the angular velocity information and the error of the acceleration information, performing error compensation on the angular velocity information according to the error of the angular velocity information, and performing error compensation on the acceleration information according to the error of the acceleration information. And integrating according to the angular velocity information after error compensation to obtain three angle information, and synthesizing the three angle information to obtain one angle. And integrating twice according to the acceleration information after error compensation to obtain three distance information, and synthesizing the three distance information to obtain a distance. From this angle and distance, an initial motion profile can be determined. The filtering may be kalman filtering, but may also be other filtering, and embodiments of the present application are not limited herein.
In other embodiments, the method for correcting the initial motion trajectory according to the distance information to obtain the motion trajectory may be: and acquiring the motion track of the pipeline quality detection module in the first direction in the pipeline according to the initial motion track. And determining an error between the distance information and the motion trail in the first direction according to the distance information and the motion trail in the first direction. And correcting the initial motion trail according to the error to obtain the motion trail.
Because the three accelerometers respectively collect the acceleration information of the pipeline quality detection module in three different directions, the acceleration information in the first direction can be integrated in two, and the motion track in the first direction can be determined.
In some embodiments, according to the distance information and the motion trail in the first direction, an implementation manner of determining an error between the distance information and the motion trail in the first direction may be: and comparing the distance value of the distance information with the numerical value of the motion trail in the first direction, and determining the error between the distance information and the motion trail in the first direction according to the comparison result.
In some embodiments, the implementation of correcting the initial motion trajectory according to the error may be: according to the error, the motion trail in the first direction on the initial motion trail can be corrected. After the motion trajectory correction in the first direction, the motion trajectories in the other directions are adjusted according to the relationship between the motion trajectories in the first direction and the motion trajectories in the other directions. After the motion trail in the three directions is adjusted, the motion trail after correction can be obtained.
Step 903: and determining the position of the deformation of the pipeline according to at least one alarm signal, the reporting time information of each alarm signal, the movement track and the reporting time information of the movement track information.
In some embodiments, the implementation of step 903 may be: and establishing a corresponding relation between the motion trail and time according to the reporting time information of the motion trail information. And for a first alarm signal in the at least one alarm signal, acquiring a position corresponding to the first alarm signal from the corresponding relation between the motion trail and time according to the reporting time information of the first alarm signal, wherein the first alarm signal is one of the at least one alarm signal.
Because in the pipeline detection device detection pipeline's in-process, the timing module keeps track of time, and acceleration information and angular velocity information are gathered all the time to three accelerometer and three gyroscope. Therefore, each piece of acceleration information and each piece of angular velocity information correspond to one piece of reporting time information. Therefore, the movement locus determined from the acceleration information and the angular velocity information also corresponds to the reporting time information, and therefore, a correspondence relationship between the movement locus and time can be established.
In addition, each alarm signal corresponds to one piece of reporting time information, and the alarm signal is sent after the pipeline quality detection module detects that the pipeline is deformed, at the moment, the timing module is in a state of recording the reporting time information, the three accelerometers are in a state of collecting acceleration information, and the three gyroscopes are in a state of collecting angular velocity information, so that the reporting time information of each alarm signal is identical to the reporting time information corresponding to the acceleration information and the reporting time information corresponding to the angular velocity information. That is, the reporting time information of each warning signal is the same as the reporting time information of the movement trace determined from the acceleration information and the angular velocity information. After the corresponding relation between the motion trail and the reporting time information is determined, the position corresponding to the reporting time information can be found out from the corresponding relation between the motion trail and the reporting time information according to the reporting time information of the first alarm signal.
In the embodiment of the application, at least one alarm signal generated in the process of moving in the pipeline by the pipeline quality detection module, the reporting time information of each alarm signal, the movement track information and the reporting time information of the movement track information are acquired. And determining the motion trail of the pipeline quality detection module in the pipeline according to the motion trail information. Because the reporting time information corresponds to the movement track information and the alarm signals correspond to the reporting time information, the position where the pipeline is deformed can be accurately determined according to at least one alarm signal, the reporting time information of each alarm signal, the movement track and the reporting time information of the movement track information, and further, the remediation efficiency when the pipeline is remedied can be improved.
Fig. 10 is a schematic structural diagram of another pipeline inspection device according to an embodiment of the present application. As shown in fig. 10, the apparatus 1000 includes:
the obtaining module 1001 is configured to obtain at least one alarm signal, reporting time information of each alarm signal, movement track information, and reporting time information of movement track information received by the post-processing module during the movement process of the pipeline quality detection module in the pipeline.
The first determining module 1002 is configured to determine a motion track of the pipeline quality detecting module in the pipeline according to the motion track information.
The second determining module 1003 determines a location where the pipeline is deformed according to at least one alarm signal, reporting time information of each alarm signal, a movement track, and reporting time information of the movement track information.
Optionally, the second determining module 1003 includes:
the establishing unit is used for establishing the corresponding relation between the motion trail and time according to the reporting time information of the motion trail information
The acquisition unit is used for acquiring the position corresponding to the first alarm signal from the corresponding relation between the motion trail and time according to the reporting time information of the first alarm signal for the first alarm signal in the at least one alarm signal, wherein the first alarm signal is one of the at least one alarm signal.
Optionally, the motion trail information includes angular velocity information, acceleration information, and distance information of the pipeline quality detection module moving in a first direction within the pipeline;
the first determination module 1002 includes:
the determining unit is used for determining the initial motion trail of the pipeline quality detecting module in the pipeline according to the angular velocity information and the acceleration information;
And the correction unit is used for correcting the initial motion trail according to the distance information to obtain the motion trail.
Optionally, the correction unit comprises
The acquisition subunit is used for acquiring the motion trail of the pipeline quality detection module in the first direction in the pipeline according to the initial motion trail;
a determining subunit for determining an error between the distance information and the motion trail in the first direction based on the distance information and the motion trail in the first direction
And the correction subunit is used for correcting the initial motion trail according to the error to obtain the motion trail.
In the embodiment of the application, at least one alarm signal generated in the process of moving in the pipeline by the pipeline quality detection module, the reporting time information of each alarm signal, the movement track information and the reporting time information of the movement track information are acquired. And determining the motion trail of the pipeline quality detection module in the pipeline according to the motion trail information. Because the reporting time information corresponds to the movement track information and the alarm signals correspond to the reporting time information, the position where the pipeline is deformed can be accurately determined according to at least one alarm signal, the reporting time information of each alarm signal, the movement track and the reporting time information of the movement track information, and further, the remediation efficiency when the pipeline is remedied can be improved.
It should be noted that: in the pipeline detection device provided in the above embodiment, only the division of the above functional modules is used for illustration when detecting a pipeline, and in practical application, the above functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the pipe detection device and the pipe detection method provided in the foregoing embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments and are not described herein again.
Fig. 11 shows a block diagram of a terminal 1100 according to an exemplary embodiment of the present application. The terminal 1100 may be: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, motion picture expert compression standard audio plane 3), an MP4 (Moving Picture Experts Group Audio Layer IV, motion picture expert compression standard audio plane 4) player, a notebook computer, or a desktop computer. Terminal 1100 may also be referred to by other names of user devices, portable terminals, laptop terminals, desktop terminals, and the like.
Generally, the terminal 1100 includes: a processor 1101 and a memory 1102.
The processor 1101 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 1101 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 1101 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 1101 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 1101 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.
Memory 1102 may include one or more computer-readable storage media, which may be non-transitory. Memory 1102 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 1102 is used to store at least one instruction for execution by processor 1101 to implement the pipeline detection method provided by the method embodiments of the present application.
In some embodiments, the terminal 1100 may further optionally include: a peripheral interface 1103 and at least one peripheral. The processor 1101, memory 1102, and peripheral interface 1103 may be connected by a bus or signal lines. The individual peripheral devices may be connected to the peripheral device interface 1103 by buses, signal lines or circuit boards. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1104, touch display 1105, camera assembly 1106, audio circuitry 1107, positioning assembly 1108, and power supply 1109.
A peripheral interface 1103 may be used to connect I/O (Input/Output) related at least one peripheral device to the processor 1101 and memory 1102. In some embodiments, the processor 1101, memory 1102, and peripheral interface 1103 are integrated on the same chip or circuit board; in some other embodiments, any one or both of the processor 1101, memory 1102, and peripheral interface 1103 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.
The Radio Frequency circuit 1104 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 1104 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 1104 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 1104 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuitry 1104 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: metropolitan area networks, various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuitry 1104 may also include NFC (Near Field Communication, short-range wireless communication) related circuitry, which is not limiting of the application.
The display screen 1105 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display 1105 is a touch display, the display 1105 also has the ability to collect touch signals at or above the surface of the display 1105. The touch signal may be input to the processor 1101 as a control signal for processing. At this time, the display screen 1105 may also be used to provide virtual buttons and/or virtual keyboards, also referred to as soft buttons and/or soft keyboards. In some embodiments, the display 1105 may be one, providing a front panel of the terminal 1100; in other embodiments, the display 1105 may be at least two, respectively disposed on different surfaces of the terminal 1100 or in a folded design; in still other embodiments, the display 1105 may be a flexible display disposed on a curved surface or a folded surface of the terminal 1100. Even more, the display 1105 may be arranged in a non-rectangular irregular pattern, i.e., a shaped screen. The display 1105 may be made of LCD (Liquid Crystal Display ), OLED (Organic Light-Emitting Diode) or other materials.
The camera assembly 1106 is used to capture images or video. Optionally, the camera assembly 1106 includes a front camera and a rear camera. Typically, the front camera is disposed on the front panel of the terminal and the rear camera is disposed on the rear surface of the terminal. In some embodiments, the at least two rear cameras are any one of a main camera, a depth camera, a wide-angle camera and a tele camera, so as to realize that the main camera and the depth camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize a panoramic shooting and Virtual Reality (VR) shooting function or other fusion shooting functions. In some embodiments, the camera assembly 1106 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures.
The audio circuit 1107 may include a microphone and a speaker. The microphone is used for collecting sound waves of users and environments, converting the sound waves into electric signals, and inputting the electric signals to the processor 1101 for processing, or inputting the electric signals to the radio frequency circuit 1104 for voice communication. For purposes of stereo acquisition or noise reduction, a plurality of microphones may be provided at different portions of the terminal 1100, respectively. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor 1101 or the radio frequency circuit 1104 into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes. In some embodiments, the audio circuit 1107 may also include a headphone jack.
The location component 1108 is used to locate the current geographic location of the terminal 1100 to enable navigation or LBS (Location Based Service, location based services). The positioning component 1108 may be a positioning component based on the United states GPS (Global Positioning System ), the Beidou system of China, the Granati system of Russia, or the Galileo system of the European Union.
A power supply 1109 is used to supply power to various components in the terminal 1100. The power source 1109 may be an alternating current, a direct current, a disposable battery, or a rechargeable battery. When the power supply 1109 includes a rechargeable battery, the rechargeable battery may support wired or wireless charging. The rechargeable battery may also be used to support fast charge technology.
In some embodiments, terminal 1100 also includes one or more sensors 1110. The one or more sensors 1110 include, but are not limited to: acceleration sensor 1111, gyroscope sensor 1112, pressure sensor 1113, fingerprint sensor 1114, optical sensor 1115, and proximity sensor 1116.
The acceleration sensor 1111 may detect the magnitudes of accelerations on three coordinate axes of a coordinate system established with the terminal 1100. For example, the acceleration sensor 1111 may be configured to detect components of gravitational acceleration in three coordinate axes. The processor 1101 may control the touch display screen 1105 to display a user interface in a landscape view or a portrait view according to a gravitational acceleration signal acquired by the acceleration sensor 1111. Acceleration sensor 1111 may also be used for the acquisition of motion data of a game or a user.
The gyro sensor 1112 may detect a body direction and a rotation angle of the terminal 1100, and the gyro sensor 1112 may collect a 3D motion of the user on the terminal 1100 in cooperation with the acceleration sensor 1111. The processor 1101 may implement the following functions based on the data collected by the gyro sensor 1112: motion sensing (e.g., changing UI according to a tilting operation by a user), image stabilization at shooting, game control, and inertial navigation.
The pressure sensor 1113 may be disposed at a side frame of the terminal 1100 and/or at a lower layer of the touch display screen 1105. When the pressure sensor 1113 is disposed at a side frame of the terminal 1100, a grip signal of the terminal 1100 by a user may be detected, and the processor 1101 performs a right-left hand recognition or a shortcut operation according to the grip signal collected by the pressure sensor 1113. When the pressure sensor 1113 is disposed at the lower layer of the touch display screen 1105, the processor 1101 controls the operability control on the UI interface according to the pressure operation of the user on the touch display screen 1105. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.
The fingerprint sensor 1114 is used to collect a fingerprint of the user, and the processor 1101 identifies the identity of the user based on the collected fingerprint of the fingerprint sensor 1114, or the fingerprint sensor 1114 identifies the identity of the user based on the collected fingerprint. Upon recognizing that the user's identity is a trusted identity, the user is authorized by the processor 1101 to perform relevant sensitive operations including unlocking the screen, viewing encrypted information, downloading software, paying for and changing settings, etc. Fingerprint sensor 1114 may be disposed on the front, back, or side of terminal 1100. When a physical key or vendor Logo is provided on the terminal 1100, the fingerprint sensor 1114 may be integrated with the physical key or vendor Logo.
The optical sensor 1115 is used to collect the ambient light intensity. In one embodiment, the processor 1101 may control the display brightness of the touch display screen 1105 based on the intensity of ambient light collected by the optical sensor 1115. Specifically, when the intensity of the ambient light is high, the display luminance of the touch display screen 1105 is turned up; when the ambient light intensity is low, the display luminance of the touch display screen 1105 is turned down. In another embodiment, the processor 1101 may also dynamically adjust the shooting parameters of the camera assembly 1106 based on the intensity of ambient light collected by the optical sensor 1115.
A proximity sensor 1116, also referred to as a distance sensor, is typically provided on the front panel of the terminal 1100. The proximity sensor 1116 is used to collect a distance between the user and the front surface of the terminal 1100. In one embodiment, when the proximity sensor 1116 detects that the distance between the user and the front face of the terminal 1100 gradually decreases, the processor 1101 controls the touch display 1105 to switch from the bright screen state to the off screen state; when the proximity sensor 1116 detects that the distance between the user and the front surface of the terminal 1100 gradually increases, the touch display screen 1105 is controlled by the processor 1101 to switch from the off-screen state to the on-screen state.
Those skilled in the art will appreciate that the structure shown in fig. 11 is not limiting and that terminal 1100 may include more or fewer components than shown, or may combine certain components, or may employ a different arrangement of components.
The embodiment of the application also provides a non-transitory computer readable storage medium, which when executed by a processor of a terminal, enables the terminal to execute the pipeline detection method provided by the embodiment shown in fig. 9.
The embodiment of the present application further provides a computer program product containing instructions, which when executed on a computer, cause the computer to perform the pipeline detection method provided by the embodiment shown in fig. 9.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
In summary, the present application is not limited to the preferred embodiments, but includes all modifications, equivalents, and improvements falling within the spirit and principles of the present application.
Claims (6)
1. A method of pipeline inspection, the method comprising:
acquiring at least one alarm signal, reporting time information of each alarm signal, motion trail information and reporting time information of the motion trail information, wherein the at least one alarm signal is generated when a pipeline is detected to deform in the process of moving in the pipeline by a pipeline quality detection module, and the motion trail information is used for indicating the motion trail of the pipeline quality detection module in the pipeline;
determining the motion trail of the pipeline quality detection module in the pipeline according to the motion trail information;
determining the position of the deformation of the pipeline according to the at least one alarm signal, the reporting time information of each alarm signal, the motion trail and the reporting time information of the motion trail information,
the motion trail information comprises angular velocity information in three directions, acceleration information in the three directions and first distance information of the pipeline quality detection module moving in a first direction in the pipeline, wherein the first direction is the same as one direction in the three directions; and determining the motion track of the pipeline quality detection module in the pipeline according to the motion track information, wherein the motion track comprises the following steps:
Determining an initial motion track of the pipeline quality detection module in the pipeline according to the angular velocity information and the acceleration information;
correcting the initial motion trail according to the first distance information to obtain the motion trail,
the correcting the initial motion trail according to the first distance information to obtain the motion trail includes:
acquiring a motion track of the pipeline quality detection module in the first direction in the pipeline according to the initial motion track, wherein the motion track in the first direction is obtained by integrating acceleration information in the first direction twice;
comparing the distance value of the first distance information with the numerical value of the motion trail in the first direction, and determining the error between the first distance information and the motion trail in the first direction according to the comparison result;
correcting the motion trail in the first direction in the initial motion trail according to the error, and adjusting the motion trail in other directions according to the relation between the corrected motion trail in the first direction and the motion trail in other directions;
Obtaining the motion trail after correction according to the motion trail in the first direction after correction and the motion trail in other directions after adjustment,
the determining an initial motion track of the pipeline quality detection module in the pipeline according to the angular velocity information and the acceleration information comprises the following steps:
filtering and iterating the angular velocity information and the acceleration information to determine an error of the angular velocity information and an error of the acceleration information;
performing error compensation on the angular velocity information according to the error of the angular velocity information, and performing error compensation on the acceleration information according to the error of the acceleration information;
integrating according to the angular velocity information after error compensation to obtain three angle information, and synthesizing the three angle information to obtain an angle;
integrating twice according to the acceleration information after error compensation to obtain three pieces of second distance information, and synthesizing the three pieces of second distance information to obtain a distance;
and determining an initial motion track of the pipeline quality detection module in the pipeline according to the angle and the distance.
2. The method of claim 1, wherein the determining the location of the deformation of the pipe based on the at least one alert signal, the time information reported for each alert signal, the motion profile, and the time information reported for the motion profile information comprises:
establishing a corresponding relation between the motion trail and time according to the reporting time information of the motion trail information;
and for a first alarm signal in the at least one alarm signal, acquiring a position corresponding to the first alarm signal from the corresponding relation between the motion trail and time according to the reporting time information of the first alarm signal, wherein the first alarm signal is one of the at least one alarm signal.
3. A pipeline inspection device, the device comprising:
the device comprises an acquisition module, a pipeline quality detection module and a pipeline detection module, wherein the acquisition module is used for acquiring at least one alarm signal, reporting time information of each alarm signal, motion track information and reporting time information of the motion track information, the at least one alarm signal is generated when the pipeline is detected to be deformed in the process of moving in the pipeline by the pipeline quality detection module, and the motion track information is used for indicating the motion track of the pipeline quality detection module in the pipeline;
The first determining module is used for determining the motion trail of the pipeline quality detecting module in the pipeline according to the motion trail information;
a second determining module, configured to determine a position where the pipeline is deformed according to the at least one alarm signal, the reporting time information of each alarm signal, the motion trail and the reporting time information of the motion trail information,
the motion trail information comprises angular velocity information in three directions, acceleration information in the three directions and first distance information of the pipeline quality detection module moving in a first direction in the pipeline, wherein the first direction is the same as one direction in the three directions; and the first determination module comprises:
the determining unit is used for determining an initial motion track of the pipeline quality detecting module in the pipeline according to the angular speed information and the acceleration information;
a correction unit for correcting the initial motion trail according to the first distance information to obtain the motion trail,
the correcting the initial motion trail according to the first distance information to obtain the motion trail includes:
Acquiring a motion track of the pipeline quality detection module in the first direction in the pipeline according to the initial motion track, wherein the motion track in the first direction is obtained by integrating acceleration information in the first direction twice;
comparing the distance value of the first distance information with the numerical value of the motion trail in the first direction, and determining the error between the first distance information and the motion trail in the first direction according to the comparison result;
correcting the motion trail in the first direction in the initial motion trail according to the error, and adjusting the motion trail in other directions according to the relation between the corrected motion trail in the first direction and the motion trail in other directions;
obtaining the motion trail after correction according to the motion trail in the first direction after correction and the motion trail in other directions after adjustment,
wherein the determining an initial motion trajectory of the pipeline quality detection module in the pipeline according to the angular velocity information and the acceleration information comprises:
filtering and iterating the angular velocity information and the acceleration information to determine an error of the angular velocity information and an error of the acceleration information;
Performing error compensation on the angular velocity information according to the error of the angular velocity information, and performing error compensation on the acceleration information according to the error of the acceleration information;
integrating according to the angular velocity information after error compensation to obtain three angle information, and synthesizing the three angle information to obtain an angle;
integrating twice according to the acceleration information after error compensation to obtain three pieces of second distance information, and synthesizing the three pieces of second distance information to obtain a distance;
and determining an initial motion track of the pipeline quality detection module in the pipeline according to the angle and the distance.
4. The apparatus of claim 3, wherein the second determination module comprises:
the establishing unit is used for establishing a corresponding relation between the motion trail and time according to the reporting time information of the motion trail information;
the acquisition unit is used for acquiring the position corresponding to the first alarm signal from the corresponding relation between the motion trail and time according to the reporting time information of the first alarm signal for the first alarm signal in the at least one alarm signal, wherein the first alarm signal is one of the at least one alarm signal.
5. A pipeline inspection device, the device comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to perform the steps of the method of any one of claims 1 to 2.
6. A computer readable storage medium having instructions stored thereon which, when executed by a processor, implement the steps of the method of any one of claims 1 to 2.
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