A system and method for detecting the stability of transmission signals for pipeline robots

Abstract

This invention relates to the field of information and communication technology, and discloses a transmission signal stability detection system and method for pipeline robots. The method includes: acquiring the wireless signal transmission mode of the pipeline robot; selecting a transmission ball with the same transmission mode; pausing pipeline medium transmission; opening the inlet and outlet valves of the pipeline base station; placing several transmission balls; closing the inlet and outlet valves and resuming pipeline medium transmission; acquiring real-time data from the transmission balls; constructing a transmission dataset for each transmission ball; analyzing the transmission dataset to determine if there are any abnormal locations; when abnormal locations are found, adjusting and installing signal repeaters, repeating the placement and detection until no abnormal locations exist; determining the signal quality level at each location in the underground pipeline network based on all transmission datasets and drawing a signal strength distribution map of the underground pipeline network. This application improves the communication stability of robots in complex pipeline networks, ensures the reliability of data transmission, and reduces operational risks.

Description

Technical Field

[0001] This invention relates to the field of information and communication technology, and more specifically, to a transmission signal stability detection system and method for pipeline robots, which is particularly suitable for complex signal transmission and detection in long-distance buried pipelines such as gas and oil pipelines. Background Technology

[0002] With the acceleration of urbanization, underground pipeline networks are playing an increasingly prominent role in urban infrastructure, and are widely used for long-distance transportation of gas, oil, and other materials. The application of pipeline robots has played a crucial role in pipeline inspection, maintenance, and troubleshooting, improving operational efficiency and reducing the risks associated with manual inspections.

[0003] However, in complex pipeline networks, signal quality significantly impacts the mobility of pipeline robots. Currently, few methods exist to measure the signal quality of a specific frequency range within a pipeline network. When a cableless pipeline robot traverses such a complex network, a signal loss will halt its operation, affecting the reliability of data transmission and potentially increasing operational risks.

[0004] Therefore, it is necessary to design a transmission signal stability detection system and method for pipeline robots to solve the problems existing in the current technology. Summary of the Invention

[0005] In view of this, the present invention proposes a transmission signal stability detection system and method for pipeline robots, aiming to solve the problem of current cableless pipeline robots losing connection due to signal quality issues.

[0006] In one aspect, the present invention proposes a method for detecting the stability of transmission signals for pipeline robots, comprising:

[0007] S100: Collect the wireless signal transmission method of the pipeline robot and select a transmission ball that is the same as the wireless signal transmission method of the pipeline robot;

[0008] S200: Pause pipeline medium transmission, open the inlet and outlet valves of the pipeline base station, place several of the transmission balls, close the inlet and outlet valves, and start pipeline medium transmission;

[0009] S300: Based on the real-time data collected by the signal analyzer of the transmission ball, construct a transmission dataset for each transmission ball, analyze the transmission dataset to determine whether there is an abnormal position, the abnormal position being the position where the transmission ball loses contact;

[0010] S400: When the abnormal location exists, adjust the installation of the signal repeater, and repeat S200 and S300 until the abnormal location no longer exists;

[0011] S500: Determine the signal quality level at each location in the underground pipeline network based on all the aforementioned transmission datasets and draw a signal strength distribution map of the underground pipeline network.

[0012] Furthermore, the wireless signal transmission methods include: Wi-Fi communication operating frequency bands of 2.4GHz and 5GHz; Zigbee operating frequency bands of 2.4GHz, 868MHz and 915MHz; Bluetooth operating frequency bands of 2.4GHz and ISM band; Lora operating frequency bands of 433MHz, 868MHz and 915MHz; NB-IoT operating frequency bands of 700MHz and 900MHz; 4G low frequency band of 700-900MHz; and 4G high frequency band of 1.8-2.6GHz.

[0013] Furthermore, the real-time data includes real-time location and signal strength.

[0014] Furthermore, when analyzing the transmitted dataset to determine if there are any abnormal locations, the process includes:

[0015] Analyze the transmission data set of each of the transmission balls. When the signal strength in the transmission data set is zero, an abnormal position is determined and the abnormal position is recorded.

[0016] Furthermore, when determining the signal quality level at each location in the underground pipeline network based on all the aforementioned transmission datasets, this includes:

[0017] The average signal strength at each location in the underground pipeline is obtained based on the transmission dataset of all the transmission balls. The signal quality level is determined based on the average signal strength, and the signal quality level is proportional to the average signal strength.

[0018] Furthermore, when determining the signal quality level at each location in the underground pipeline network based on all the aforementioned transmission datasets, the method also includes:

[0019] The signal strength at each location in the underground pipeline network is obtained based on the penetration loss of radio signal theory.

[0020] Ly = Lfs + Lh;

[0021] Lfs = 32.44 + 20logd + 20logf;

[0022] Lz = Lj - Ly;

[0023] Where Lz represents the operational signal strength, Lj represents the base station signal transmission strength, Ly represents the signal loss value, Lfs represents the theoretical penetration loss of the radio signal, Lh represents the environmental superposition loss, d represents the distance between the transmitting and receiving antennas, and f represents the radio signal frequency.

[0024] Furthermore, when determining the signal quality level at each location in the underground pipeline network based on all the aforementioned transmission datasets, the method also includes:

[0025] The signal strength at each location in the underground pipeline network is compared with the average signal strength, and the signal quality level is adjusted based on the comparison results.

[0026] The signal strength difference is obtained based on the calculated signal strength and the mean signal strength, and the signal strength difference is the absolute value of the difference between the calculated signal strength and the mean signal strength.

[0027] When the signal strength difference is greater than the difference threshold, it is determined that the signal quality level should be adjusted.

[0028] When the signal strength difference is less than or equal to the difference threshold, it is determined that the signal quality level will not be adjusted.

[0029] Furthermore, adjusting the signal quality level includes:

[0030] When the signal strength difference is greater than the difference threshold but less than or equal to 1.2 times the difference threshold, the signal quality level is downgraded by one level.

[0031] When the signal strength difference is greater than 1.2 times the difference threshold, the signal quality level is downgraded by two levels.

[0032] Compared with existing technologies, the advantages of this invention are as follows: By selecting a transmission ball with the same wireless signal transmission method used by the pipeline robot, the detection results are more targeted and reliable. By pausing the pipeline medium transmission and deploying the transmission ball, allowing it to flow with the medium in the pipeline, comprehensive acquisition of signal strength at different locations throughout the entire pipeline network can be achieved, rather than relying solely on fixed-point measurements. This enables accurate assessment of signal coverage and signal attenuation characteristics. Using a signal analyzer to collect and analyze real-time data from the transmission ball allows for precise identification of abnormal locations where signal loss has occurred. When an abnormal signal area is detected, the position of the signal repeater is dynamically adjusted based on the detection results until signal transmission in the pipeline network reaches a stable state. This facilitates guidance for the installation of wireless repeaters and improves the efficiency and accuracy of signal optimization. By constructing a complete transmission dataset, the signal quality of various areas of the underground pipeline network is evaluated, and a signal strength distribution map is drawn, providing visualized signal environment information for the operation of pipeline robots. The pipeline network is divided into areas according to different signal strength levels, such as drivable areas, non-drivable areas, and unknown areas. The signal in drivable areas can meet the communication requirements, which is beneficial for the in-service inspection of pipeline robots. This improves the communication stability of robots in complex pipeline networks, ensures the reliability of data transmission, and reduces operational risks.

[0033] On the other hand, this application also provides a transmission signal stability detection system for pipeline robots, for applying the above-mentioned transmission signal stability detection method for pipeline robots, including:

[0034] Several small transmission balls are provided, and the wireless signal transmission method of the transmission balls is the same as that of the pipeline robot.

[0035] Signal repeaters are installed in underground pipe networks, and multiple signal repeaters are installed to transmit wireless signals;

[0036] A signal analyzer is connected to the transmission sphere. The signal analyzer is used to collect real-time data from the transmission sphere, construct a transmission dataset for each transmission sphere, analyze the transmission dataset to determine if there are any abnormal locations, determine the signal quality level of each location in the underground pipeline network based on all the transmission datasets, and draw a signal strength distribution map of the underground pipeline network.

[0037] Furthermore, the signal analyzer is also used for:

[0038] The signal strength at each location in the underground pipeline network is obtained based on the penetration loss of radio signal theory; the signal strength at each location in the underground pipeline network is compared with the average signal strength, and the signal quality level is adjusted based on the comparison result.

[0039] It is understandable that the above-mentioned signal transmission stability detection system and method for pipeline robots have the same beneficial effects, and will not be elaborated further here. Attached Figure Description

[0040] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0041] Figure 1 A flowchart illustrating a method for detecting the stability of transmission signals for a pipeline robot, provided in an embodiment of the present invention;

[0042] Figure 2 This is an application diagram of the signal stability detection system for pipeline robots provided in an embodiment of the present invention;

[0043] Among them, 100 is a transmission ball; 200 is a signal repeater; 300 is a signal analyzer; 410 is a pipeline valve; and 420 is an inlet and outlet valve for the pipeline base station. Detailed Implementation

[0044] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0045] In some embodiments of this application, see Figure 1 As shown, a method for detecting the stability of transmission signals for pipeline robots includes:

[0046] S100: Collects the wireless signal transmission method of the pipeline robot and selects a transmission ball that uses the same wireless signal transmission method as the pipeline robot.

[0047] S200: Pause pipeline medium transmission, open the inlet and outlet valves of the pipeline base station, place several transmission balls, close the inlet and outlet valves, and start pipeline medium transmission.

[0048] S300: Based on the real-time data collected by the signal analyzer, a transmission dataset for each transmission ball is constructed. The transmission dataset is analyzed to determine whether there are any abnormal positions. The abnormal positions are the positions where the transmission balls lose contact.

[0049] S400: When an abnormal location is found, adjust the installation of the signal repeater and repeat S200 and S300 until there is no abnormal location.

[0050] S500: Determine the signal quality level at each location in the underground pipeline network based on all transmission datasets and draw a signal strength distribution map of the underground pipeline network.

[0051] Specifically, in S100, due to the existence of different wireless signal transmission methods, the wireless signal transmission method used by the pipeline robot is first determined, and a matching transmission ball is selected to ensure that the test results are highly targeted and reliable. The transmission ball can simulate the signal reception of the pipeline robot at different locations in the pipeline environment, thus realistically reflecting the signal quality. In S200, to accurately test the signal quality in the pipeline, multiple transmission balls are placed into the pipeline while the pipeline medium transmission is paused. Subsequently, the medium flow is resumed, allowing the transmission balls to move with the flowing medium within the pipeline, traversing different locations, simulating the signal conditions that the pipeline robot may encounter during operation. Compared with traditional fixed-point detection methods, this method can achieve more comprehensive signal coverage testing and reduce the impact of signal blind spots. In S300, as the transmission balls move with the pipeline medium, the signal analyzer collects their real-time data, constructing a transmission dataset for each transmission ball, including parameters such as signal strength, packet loss rate, and signal attenuation trend. This data is analyzed to determine whether there are abnormal locations inside the pipeline, i.e., areas where the signal is lost. Identifying the specific locations of signal attenuation or loss provides a basis for subsequent optimization. In S400, upon detecting anomalies within the pipeline, signal repeaters are adjusted or added in the affected area to enhance signal coverage. After optimization, S200 and S300 tests are repeated to ensure effective elimination of signal blind spots. Through cyclical testing and optimization, the signal environment within the pipeline is continuously improved. In S500, after signal detection and optimization, based on all collected transmission datasets, the signal quality levels at different locations within the pipeline network are analyzed and determined, ultimately generating a signal strength distribution map of the underground pipeline network. This distribution map provides a visual reference of the signal environment, thereby improving the stability and reliability of inspection and maintenance work.

[0052] Understandably, by introducing a transmission ball to dynamically measure signal quality inside the pipeline, the limitations of traditional fixed-point signal detection are overcome, enabling precise optimization of the wireless signal coverage of the pipeline robot. Compared to the traditional experience-based deployment of signal repeaters, this method allows for scientific optimization based on actual measurement data, ensuring the effectiveness and uniformity of signal coverage and avoiding the waste of resources caused by blindly adding or removing signal repeaters. The generated signal strength distribution map provides a visual reference of the signal environment, improving the intelligence level of inspection and maintenance and reducing the risk of task failure due to signal problems.

[0053] In some embodiments of this application, the wireless signal transmission methods include: Wi-Fi communication operating frequency bands of 2.4GHz and 5GHz; Zigbee operating frequency bands of 2.4GHz, 868MHz and 915MHz; Bluetooth operating frequency bands of 2.4GHz and ISM band; LoRa operating frequency bands of 433MHz, 868MHz and 915MHz; NB-IoT operating frequency bands of 700MHz and 900MHz; 4G low frequency band of 700-900MHz; and 4G high frequency band of 1.8-2.6GHz.

[0054] Specifically, wireless signals include Wi-Fi communication operating in the 2.4GHz and 5GHz bands; Zigbee, operating in the 2.4GHz, 868MHz, and 915MHz bands; Bluetooth, operating in the 2.4GHz ISM band for short-range communication; LoRa (Long Range, suitable for long-range communication), with bands such as 433MHz, 868MHz, and 915MHz; NB-IoT (Narrowband Internet of Things), with 700MHz and 900MHz allocated by operators; and 4G (Fourth Generation), operating in low-frequency bands (700-900MHz, wide coverage) and high-frequency bands (1.8-2.6GHz, high speed).

[0055] Understandably, this provides pipeline robots with compatibility support for different wireless technologies, enabling them to adapt to the optimal communication mode under different working conditions, ensuring the continuity and reliability of data transmission, and improving the level of intelligence in pipeline inspection and maintenance.

[0056] In some embodiments of this application, real-time data includes real-time location and signal strength.

[0057] In some embodiments of this application, when analyzing the transmission dataset to determine whether there is an abnormal position, the method includes: analyzing the transmission dataset of each transmission ball, and when there is a transmission dataset with a signal strength of zero, determining that there is an abnormal position and recording the abnormal position.

[0058] Understandably, the introduction of real-time data acquisition and signal strength analysis methods makes the identification of signal anomaly locations more accurate and efficient. Compared to traditional manual inspections or fixed-point detection methods, this approach enables dynamic monitoring of signal strength at all locations within the pipeline, avoiding the potential for missed signal blind spots in fixed-point methods. By automatically analyzing signal data and determining anomaly locations, the efficiency and accuracy of anomaly detection are improved, ensuring that signal optimization can be precisely adjusted for specific problem areas.

[0059] In some embodiments of this application, determining the signal quality level at each location in the underground pipeline network based on all transmission datasets includes: obtaining the average signal strength at each location in the underground pipeline network based on the transmission datasets of all transmission balls, determining the signal quality level based on the average signal strength, wherein the signal quality level is proportional to the average signal strength.

[0060] Understandably, compared to single measurements or fixed-point sampling, statistical analysis using measurement data from multiple transmission spheres improves the accuracy and representativeness of signal measurements. By classifying signal quality levels, areas with good signal coverage and signal blind spots can be intuitively identified, further enhancing the communication stability of pipeline robots in underground pipe networks.

[0061] In some embodiments of this application, when determining the signal quality level at each location in the underground pipeline network based on all transmission datasets, the method further includes:

[0062] The signal strength at each location in the underground pipeline network is obtained based on the penetration loss of radio signal theory.

[0063] Ly = Lfs + Lh;

[0064] Lfs = 32.44 + 20logd + 20logf;

[0065] Lz = Lj - Ly;

[0066] Where Lz represents the operational signal strength, Lj represents the base station signal transmission strength, Ly represents the signal loss value, Lfs represents the theoretical penetration loss of the radio signal, Lh represents the environmental superposition loss, d represents the distance between the transmitting and receiving antennas, and f represents the radio signal frequency.

[0067] Specifically, Lfs represents free-space path loss in dB, indicating the energy attenuation of a signal propagating in an ideal vacuum environment. f is the radio signal frequency in megahertz, and d is the distance between the transmitting and receiving antennas in kilometers. Lh represents environmental superposition loss, such as the loss value caused by obstacles and atmospheric absorption in real-world scenarios. For example, building penetration loss is approximately 10 to 25 dB.

[0068] In some embodiments of this application, when determining the signal quality level at each location in the underground pipeline network based on all transmission datasets, the method further includes: comparing the calculated signal strength at each location in the underground pipeline network with the average signal strength, and determining whether to adjust the signal quality level based on the comparison result.

[0069] Specifically, the signal strength difference is obtained by comparing the calculated signal strength with the mean signal strength. The signal strength difference is the absolute value of the difference between the calculated signal strength and the mean signal strength. When the signal strength difference is greater than the difference threshold, it is determined that the signal quality level should be adjusted. When the signal strength difference is less than or equal to the difference threshold, it is determined that the signal quality level should not be adjusted.

[0070] Specifically, when adjusting the signal quality level, the following steps are taken: when the signal strength difference is greater than the difference threshold but less than or equal to 1.2 times the difference threshold, the signal quality level is downgraded by one level; when the signal strength difference is greater than 1.2 times the difference threshold, the signal quality level is downgraded by two levels.

[0071] Specifically, if the signal quality level is level three, and level one is greater than level two, and level two is greater than level three, and the original signal quality level is level two, when it is determined that the signal quality level should be downgraded by one level, the original signal quality level should be adjusted to level three. When the original signal quality level is level three, and it is determined that the signal quality level should be downgraded by one level, the original signal quality level should be maintained unchanged.

[0072] Understandably, by combining theoretical calculations and actual measurement data, a more accurate assessment and dynamic adjustment of underground pipeline signal quality is achieved. Traditional signal assessment relies on single measurement data, which is easily affected by factors such as environmental noise and measurement errors, leading to inaccurate assessment results. This embodiment calculates signal strength using radio signal propagation theory and compares it with the measured average, improving detection accuracy. The automatic adjustment mechanism for signal quality levels ensures the accuracy of the assessment and further enhances the stability of pipeline robot communication.

[0073] In the above embodiments, by selecting a transmission ball with the same wireless signal transmission method used by the pipeline robot, the detection results are made more targeted and reliable. By pausing the pipeline medium transmission and deploying the transmission ball, allowing it to flow with the medium in the pipeline, comprehensive acquisition of signal strength at different locations throughout the entire pipeline network is achieved, rather than relying solely on fixed-point measurements. This enables accurate assessment of signal coverage and signal attenuation characteristics. Using a signal analyzer to collect and analyze real-time data from the transmission ball allows for precise identification of abnormal locations where signal loss has occurred. When an abnormal signal area is detected, the position of the signal repeater is dynamically adjusted based on the detection results until signal transmission in the pipeline network reaches a stable state. This facilitates guidance on the installation of wireless repeaters and improves the efficiency and accuracy of signal optimization. By constructing a complete transmission dataset, the signal quality of various areas of the underground pipeline network is evaluated, and a signal strength distribution map is drawn, providing visualized signal environment information for the operation of pipeline robots. The pipeline network is divided into areas according to different signal strength levels, such as drivable areas, non-drivable areas, and unknown areas. The signal in drivable areas can meet the communication requirements, which is beneficial for the in-service inspection of pipeline robots. This improves the communication stability of robots in complex pipeline networks, ensures the reliability of data transmission, and reduces operational risks.

[0074] In another preferred embodiment based on the above embodiments, see [reference] Figure 2 As shown, this embodiment provides a transmission signal stability detection system for a pipeline robot and a transmission signal stability detection method for a pipeline robot, including:

[0075] Several transmission balls 100 are provided, and the transmission balls 100 use the same wireless signal transmission method as the pipeline robot.

[0076] Signal repeater 200 is installed in the underground pipeline network. Multiple signal repeaters 200 are installed and used to transmit wireless signals.

[0077] The signal analyzer 300 is connected to the transmission ball 100. The signal analyzer 300 is used to collect real-time data from the transmission ball 100, construct a transmission dataset for each transmission ball 100, analyze the transmission dataset to determine if there are any abnormal locations, determine the signal quality level of each location in the underground pipeline network based on all transmission datasets, and draw a signal strength distribution map of the underground pipeline network.

[0078] In some embodiments of this application, the signal analyzer is also used to: obtain the computational signal strength at each location in the underground pipeline network based on the theoretical penetration loss of radio signals; compare the computational signal strength at each location in the underground pipeline network with the average signal strength, and determine whether to adjust the signal quality level based on the comparison result.

[0079] Specifically, the transmission ball 100 is made of waterproof and corrosion-resistant materials (such as high-strength engineering plastics) to ensure its long-term operation without damage in various media (such as natural gas, water, oil, etc.). It has a built-in receiver unit supporting multiple wireless communication protocols (such as Wi-Fi, Zigbee, LoRa, NB-IoT, etc.) for collecting real-time signal strength data in the pipeline. A microprocessor is equipped to process and store the signal data, or transmit it to an external data acquisition system in real time. A positioning module records the approximate position of the ball in the pipeline so that signal strength can be correlated with the specific location during data transmission. A miniature lithium battery or energy recovery technology (such as a fluid self-charging system) is used to ensure that the ball collects data throughout the entire detection process.

[0080] The system's application process is as follows:

[0081] The wireless signal transmission method of the pipeline robot was collected, and a transmission ball 100 with the same wireless signal transmission method as the pipeline robot was selected.

[0082] The pipeline medium transmission is paused by pipeline valve 410, the inlet and outlet valves 420 of the pipeline base station are opened, several transmission balls 100 are placed, the inlet and outlet valves are closed, and the pipeline medium transmission is started.

[0083] Based on the real-time data collected by the signal analyzer 300, a transmission dataset for each transmission ball 100 is constructed. The transmission dataset is analyzed to determine whether there are any abnormal positions. The abnormal positions are the positions where the transmission ball 100 loses contact.

[0084] If an abnormal location is found, adjust the installation signal repeater 200 and repeat steps S200 and S300 until there is no abnormal location.

[0085] Determine the signal quality level at each location in the underground pipeline network based on all transmission datasets and draw a signal strength distribution map of the underground pipeline network.

[0086] Understandably, selecting a transmission ball using the same wireless signal transmission method employed by the pipeline robot makes the detection results more targeted and reliable. By pausing the pipeline medium transmission and deploying the transmission ball, allowing it to flow with the medium within the pipeline, comprehensive acquisition of signal strength at different locations throughout the entire pipeline network can be achieved, rather than relying solely on fixed-point measurements. This enables accurate assessment of signal coverage and signal attenuation characteristics. Using a signal analyzer to collect and analyze real-time data from the transmission ball allows for precise identification of abnormal locations where signal loss has occurred. When an abnormal signal area is detected, the position of the signal repeater is dynamically adjusted based on the detection results until signal transmission in the pipeline network reaches a stable state. This facilitates guidance on the installation of wireless repeaters and improves the efficiency and accuracy of signal optimization. By constructing a complete transmission dataset, the signal quality of various areas of the underground pipeline network is evaluated, and a signal strength distribution map is drawn, providing visualized signal environment information for the operation of pipeline robots. The pipeline network is divided into areas according to different signal strength levels, such as drivable areas, non-drivable areas, and unknown areas. The signal in drivable areas can meet the communication requirements, which is beneficial for the in-service inspection of pipeline robots. This improves the communication stability of robots in complex pipeline networks, ensures the reliability of data transmission, and reduces operational risks.

[0087] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program goods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program goods embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0088] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0089] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0090] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for detecting the stability of transmission signals for pipeline robots, characterized in that, include: S100: Collect the wireless signal transmission method of the pipeline robot and select a transmission ball that is the same as the wireless signal transmission method of the pipeline robot; S200: Pause pipeline medium transmission, open the inlet and outlet valves of the pipeline base station, place several of the transmission balls, close the inlet and outlet valves, and start pipeline medium transmission; S300: Based on the real-time data collected by the signal analyzer of the transmission ball, construct a transmission dataset for each transmission ball, analyze the transmission dataset to determine whether there is an abnormal position, the abnormal position being the position where the transmission ball loses contact; S400: When the abnormal location exists, adjust the installation of the signal repeater, and repeat S200 and S300 until the abnormal location no longer exists; S5 00: Determine the signal quality level at each location in the underground pipeline network based on all the aforementioned transmission datasets and draw a signal strength distribution map of the underground pipeline network; When determining the signal quality level at each location in the underground pipeline network based on all the aforementioned transmission datasets, the method further includes: The signal strength at each location in the underground pipeline network is obtained based on the penetration loss of radio signal theory. Ly = Lfs + Lh; Lfs = 32.44 + 201logd + 20logf; Lz = Lj - Ly; Where Lz represents the operational signal strength, Lj represents the base station signal transmission strength, Ly represents the signal loss value, Lfs represents the theoretical penetration loss of the radio signal, Lh represents the environmental superposition loss, d represents the distance between the transmitting and receiving antennas, and f represents the radio signal frequency. When determining the signal quality level at each location in the underground pipeline network based on all the aforementioned transmission datasets, the method further includes: The signal strength at each location in the underground pipeline network is compared with the average signal strength, and the signal quality level is adjusted based on the comparison results. The signal strength difference is obtained based on the calculated signal strength and the mean signal strength, and the signal strength difference is the absolute value of the difference between the calculated signal strength and the mean signal strength. When the signal strength difference is greater than the difference threshold, it is determined that the signal quality level should be adjusted. When the signal strength difference is less than or equal to the difference threshold, it is determined that the signal quality level will not be adjusted.

2. The method for detecting the stability of transmission signals for pipeline robots according to claim 1, characterized in that, The wireless signal transmission methods include: Wi-Fi communication operating frequency bands of 2.4GHz and 5GHz; Zigbee operating frequency bands of 2.4GHz, 868MHz and 915MHz; Bluetooth operating frequency bands of 2.4GHz and ISM band; Lora operating frequency bands of 433MHz, 868MHz and 915MHz; NB-IoT operating frequency bands of 700MHz and 900MHz; 4G low frequency band of 700-900MHz; and 4G high frequency band of 1.8-2.6GHz.

3. The method for detecting the stability of transmission signals for pipeline robots according to claim 1, characterized in that, The real-time data includes real-time location and signal strength.

4. The method for detecting the stability of transmission signals for pipeline robots according to claim 1, characterized in that, When analyzing the transmitted dataset to determine if there are any abnormal locations, the process includes: Analyze the transmission data set of each of the transmission balls. When the signal strength in the transmission data set is zero, an abnormal position is determined and the abnormal position is recorded.

5. The method for detecting the stability of transmission signals for pipeline robots according to claim 1, characterized in that, When determining the signal quality level at each location in the underground pipeline network based on all the aforementioned transmission datasets, the following is included: The average signal strength at each location in the underground pipeline is obtained based on the transmission dataset of all the transmission balls. The signal quality level is determined based on the average signal strength, and the signal quality level is proportional to the average signal strength.

6. The method for detecting the stability of transmission signals for pipeline robots according to claim 1, characterized in that, Adjusting the signal quality level includes: When the signal strength difference is greater than the difference threshold but less than or equal to 1.2 times the difference threshold, the signal quality level is downgraded by one level. When the signal strength difference is greater than 1.2 times the difference threshold, the signal quality level is downgraded by two levels.

7. A transmission signal stability detection system for a pipeline robot, used in applying the transmission signal stability detection method for a pipeline robot as described in any one of claims 1-6, characterized in that, include: Several small transmission balls are provided, and the wireless signal transmission method of the transmission balls is the same as that of the pipeline robot. Signal repeaters are installed in underground pipe networks, and multiple signal repeaters are installed to transmit wireless signals; A signal analyzer is connected to the transmission sphere. The signal analyzer is used to collect real-time data from the transmission sphere, construct a transmission dataset for each transmission sphere, analyze the transmission dataset to determine if there are any abnormal locations, determine the signal quality level of each location in the underground pipeline network based on all the transmission datasets, and draw a signal strength distribution map of the underground pipeline network.

8. The signal stability detection system for pipeline robots according to claim 7, characterized in that, The signal analyzer is also used for: The signal strength at each location in the underground pipeline network is obtained based on the penetration loss of radio signal theory; the signal strength at each location in the underground pipeline network is compared with the average signal strength, and the signal quality level is adjusted based on the comparison result.

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