A method, system, storage medium and intelligent terminal for detecting underground pipeline chips

Abstract

The present application relates to an underground pipeline chip detection method, system, storage medium and intelligent terminal, and relates to the field of pipeline detection technology, which includes obtaining the location of the parameter chip through the pipeline number information and controlling the trolley to detect and identify the parameter chip at the location of the parameter chip to obtain the corresponding pipeline parameters. If the pipeline number information of the pipeline parameter is not identified when identifying the parameter chip, the location of the spare chip can be determined according to the pipeline number information and the parameter chip location information, so that the trolley can move to the spare chip for identification and detection. The present application has the effect of enabling the trolley to read the pipeline parameters more conveniently.

Description

Technical Field

[0001] The present application relates to the field of pipeline detection technology, and in particular to underground pipeline chip detection methods, systems, storage media and intelligent terminals. Background Art

[0002] In the process of urban construction, underground pipelines play an important role in transportation. The existence of underground pipelines makes the transportation of various resources more convenient. However, pipelines will be damaged after long-term use, and staff are required to conduct regular inspections and maintenance of the pipelines.

[0003] In the related technology, in order to facilitate the staff to carry out later inspection and maintenance of the pipeline, a chip with pipeline parameter information will be implanted into the pipeline during the production process of the pipeline. When the staff needs to repair the pipeline, the pipeline trolley with data reading function is driven to move to the position corresponding to the chip to read the data in the chip for subsequent maintenance.

[0004] With regard to the above-mentioned related technologies, the inventor believes that pipelines need to be transported and stored from production to use, and the chips may be stolen during the transportation and storage process. In order to reduce the risk of chip theft during storage, manufacturers randomly implant chips during the pipeline production process. However, the randomly implanted chips make it difficult for subsequent vehicles to move to the chip position during the inspection process, and it is difficult to obtain the corresponding parameters of the pipeline. There is still room for improvement. Summary of the invention

[0005] In order to enable the car to read pipeline parameters more conveniently, the present application provides an underground pipeline chip detection method, system, storage medium and intelligent terminal.

[0006] In the first aspect, the present application provides a method for detecting chips in underground pipelines, which adopts the following technical solution:

[0007] A method for detecting chips in underground pipelines, comprising:

[0008] Get the pipeline number information preset in the pipeline;

[0009] According to the parameter chip location information stored in the preset parameter chip location database, the parameter chip location information is matched with the pipeline number information to determine the parameter chip location information corresponding to the pipeline number information;

[0010] According to the position corresponding to the position information of the parameter chip, the vehicle is controlled to move in a preset detection direction and stop at the position corresponding to the position information of the parameter chip, so as to identify the parameter chip;

[0011] Determine whether to output pipeline parameters when the parameter chip is identified;

[0012] If pipeline parameters are output, the pipeline parameters are stored and the identification and detection of the current pipeline is completed;

[0013] If the pipeline parameters are not output, the abnormal chip location information is output at the location where the parameter chip location information is located, and the spare chip location information, pipeline number information and parameter chip location information stored in the preset spare chip location database are matched to determine the spare chip location information corresponding to the pipeline number information and the parameter chip location information;

[0014] According to the position corresponding to the spare chip position information, the trolley is controlled to move and stop at the position corresponding to the spare chip position information to identify the spare chip;

[0015] Determine whether to output pipeline parameters when the spare chip is identified;

[0016] If pipeline parameters are output, the pipeline parameters are stored and the identification and detection of the current pipeline is completed;

[0017] If the pipeline parameters are not output, the abnormal chip location information is output at the location where the spare chip location information is located and a warning is issued.

[0018] By adopting the above technical solution, when the trolley needs to read the pipeline parameters during detection, the pipeline number information preset in the pipeline is used to obtain the position of the parameter chip in the pipeline, so that the trolley can move to the position of the parameter chip for identification and detection, so that the trolley can read the pipeline parameters more conveniently; when the parameter chip is identified, if the pipeline parameters are not output, it means that the parameter chip is damaged or the parameter chip is not in the corresponding position. At this time, the trolley cannot obtain the pipeline parameters through the parameter chip. The parameter chip position information and the pipeline number information can be used to find the spare chip position information of the pipeline. At this time, the trolley can be moved to the spare chip to obtain the pipeline parameters.

[0019] Optionally, when the parameter chip is identified and no pipeline parameters are output, the moving method of the trolley includes:

[0020] Obtaining direction parameter information from the position corresponding to the parameter chip position information to the position corresponding to the spare chip position information;

[0021] Determine whether the direction corresponding to the direction parameter information is consistent with the detection direction;

[0022] If the direction corresponding to the direction parameter information is consistent with the detection direction, the vehicle is controlled to move and stop at the position corresponding to the spare chip position information according to the position corresponding to the spare chip position information, and identification detection is performed;

[0023] If the direction corresponding to the direction parameter information is inconsistent with the detection direction, the spare chip position information is numbered and located, and the identification and detection of the current pipeline is completed.

[0024] By adopting the above technical solution, when the pipeline parameters are not detected at the position where the parameter chip is located, the trolley determines whether the position of the spare chip is in the detection direction. If it is in the detection direction, the trolley is moved to the spare chip to identify the spare chip during the movement to read the pipeline parameters. When it is not in the detection direction, the trolley is not controlled to go to the spare chip to reduce the moving distance of the trolley and save energy.

[0025] Optionally, if the direction corresponding to the direction parameter information is inconsistent with the detection direction, the identification and detection method for the spare chip includes:

[0026] Get the current moving distance information of the car;

[0027] Determine whether the distance corresponding to the moving distance information is consistent with the distance corresponding to the preset reference distance information;

[0028] If the distance corresponding to the moving distance information is consistent with the distance corresponding to the reference distance information, the vehicle is controlled to move in the opposite direction of the detection direction to identify and detect the spare chip at the position corresponding to the spare chip position information of the numbered location;

[0029] If the distance corresponding to the moving distance information is inconsistent with the distance corresponding to the reference distance information, the identification detection continues along the detection direction.

[0030] By adopting the above technical solution, when the detection direction is inconsistent with the direction of the spare chip, the trolley is first moved along the detection direction by a reference distance, which is the total length of all pipelines. After the trolley moves this distance, the trolley is controlled to move in the opposite direction so that the trolley can move to the spare chip that has not been detected for detection.

[0031] Optionally, when the vehicle moves in the opposite direction of the detection direction and outputs abnormal chip location information at the location where the spare chip location information is located, the method for obtaining the pipeline parameters includes:

[0032] Analyze and match the pipeline arrangement information and the numbered pipeline information stored in the preset numbering database to determine the adjacent numbered pipeline information adjacent to the current numbered pipeline information;

[0033] According to the adjacent numbered pipeline information, the valid pipeline quantity information corresponding to the adjacent numbered pipeline information is obtained from the stored pipeline parameters;

[0034] Determine whether the number corresponding to the valid pipeline quantity information is two;

[0035] If the number corresponding to the valid pipeline quantity information is two, the pipeline parameters of the current pipeline are determined by matching the pipeline parameters stored in the preset parameter information database with the pipeline parameters of the pipeline corresponding to the adjacent numbered pipeline information, and the pipeline parameters of the current pipeline are defined as the original pipeline parameters;

[0036] If the number corresponding to the valid pipeline quantity information is not two, an alarm is issued and unidentified pipeline information is output.

[0037] By adopting the above technical solution, when the trolley detects the spare chip and fails to detect the pipeline parameters, it can be determined whether the adjacent pipelines of the pipeline have obtained the pipeline parameters. If so, the two adjacent pipeline parameters can be compared in the database to obtain the original pipeline parameters of the pipeline, so that the staff can repair the pipeline.

[0038] Optionally, if the number corresponding to the valid pipeline quantity information is not two, the method for obtaining the original pipeline parameters includes:

[0039] Determine whether the quantity corresponding to the valid pipeline quantity information is one;

[0040] If the number corresponding to the valid pipeline quantity information is not one, a warning is issued;

[0041] If the number corresponding to the valid pipeline quantity information is one, it is determined whether the valid pipeline is in the opposite direction of the vehicle detection direction;

[0042] If the effective pipeline is in the opposite direction of the trolley detection direction, an alarm will be issued;

[0043] If the valid pipeline is not in the opposite direction of the detection direction of the trolley, the trolley is controlled to move in the opposite direction of the detection direction and move to the position corresponding to the position information of the spare chip of the adjacent pipeline for identification and detection, and determine whether to output the pipeline parameters;

[0044] If the pipeline parameters are output, the pipeline parameters stored in the parameter information database are matched with the new pipeline parameters and the pipeline parameters of the valid pipeline to determine the original pipeline parameters of the pipeline corresponding to the unidentified pipeline information;

[0045] Warning if pipeline parameters are not output.

[0046] By adopting the above technical solution, if the number corresponding to the valid pipeline quantity information is not two, it means that the pipeline parameters cannot be obtained through data matching. At this time, it is necessary to determine whether the pipeline that lacks pipeline parameters is a pipeline that has been passed when detecting the current pipeline. If so, it means that the pipeline parameters of the current pipeline cannot be obtained anyway. If not, when the pipeline parameters of the subsequent section of the pipeline are detected, the pipeline parameters of the intermediate pipeline can be supplemented by the pipeline parameters of the adjacent pipeline.

[0047] Optional validation methods for pipeline parameters include:

[0048] Obtain the current pipeline image information in the pipeline and the current moving length information of the trolley;

[0049] Matching analysis is performed based on the pipeline image information and the preset connection port information to determine the connection port information in the pipeline image information, and a node identifier is output when the vehicle is located at a position corresponding to the connection port information;

[0050] Obtain the pipeline number information corresponding to the adjacent node identifiers, and calculate the difference distance between the distances corresponding to the moving length information corresponding to the adjacent node identifiers;

[0051] Determine whether the difference distance is consistent with the length in the pipeline parameters;

[0052] If the difference distance is consistent with the length in the pipeline parameters, the correct signal is output;

[0053] If the difference distance is inconsistent with the length in the pipeline parameters, an abnormal signal is output.

[0054] By adopting the above technical solution, the pipeline parameters obtained by the trolley include the pipeline length of the pipeline. During the movement of the trolley, the pipeline length of the current pipeline is obtained through adjacent node identifiers. The actual length of the current pipeline is compared with the length stored in the pipeline parameters to determine whether the pipeline parameters are correct.

[0055] Optionally, when the trolley moves in the pipeline, the lighting control method includes:

[0056] Get the car status information and pipeline brightness information;

[0057] Determine whether the vehicle status information is consistent with the preset movement status information;

[0058] If the vehicle status information is inconsistent with the mobile status information, continue the identification and detection;

[0059] If the trolley state information is consistent with the moving state information, the start-up lighting lamp preset on the trolley is started to illuminate the inside of the pipeline, and it is determined whether the brightness corresponding to the pipeline brightness information is less than the brightness corresponding to the preset reference brightness;

[0060] If the brightness corresponding to the pipeline brightness information is less than the brightness corresponding to the reference brightness, the backup lighting preset on the trolley is activated to adjust the brightness inside the pipeline until the brightness corresponding to the pipeline brightness information is adjusted to be consistent with the brightness corresponding to the reference brightness;

[0061] If the brightness corresponding to the pipeline brightness information is not less than the brightness corresponding to the reference brightness, the car continues to move.

[0062] By adopting the above technical solution, during the process of inspection in the pipeline, if the trolley does not move, there is no need to collect the internal image of the pipeline and no lighting is required, which saves energy. When the trolley moves to collect the image inside the pipeline, the trolley starts the preset starting lighting to make the pipeline bright for easy image collection. If the brightness of the starting lighting does not reach the brightness that can collect a better image, the backup lighting is started so that the brightness can meet the shooting requirements to obtain a better image.

[0063] In the second aspect, the present application provides an underground pipeline chip detection system, which adopts the following technical solution:

[0064] An underground pipeline chip detection system, comprising:

[0065] An acquisition module, used to acquire pipeline number information preset in the pipeline;

[0066] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;

[0067] The processing module matches the parameter chip location information stored in the preset parameter chip location database with the pipeline number information to determine the parameter chip location information corresponding to the pipeline number information;

[0068] The processing module controls the vehicle to move in a preset detection direction according to the position corresponding to the parameter chip position information and to stop at the position corresponding to the parameter chip position information, so as to identify the parameter chip;

[0069] A judgment module, used to judge whether to output pipeline parameters when the parameter chip is identified;

[0070] If the judging module determines the output pipeline parameters, the processing module stores the pipeline parameters and completes the identification and detection of the current pipeline;

[0071] If the judging module determines that the pipeline parameters are not to be output, the processing module outputs the abnormal chip location information at the location of the parameter chip location information and matches the spare chip location information, pipeline number information and parameter chip location information stored in the preset spare chip location database to determine the spare chip location information corresponding to the pipeline number information and the parameter chip location information;

[0072] The processing module controls the vehicle to move and stop at the position corresponding to the spare chip position information according to the position corresponding to the spare chip position information, so as to identify the spare chip;

[0073] A judgment module, used to judge whether to output pipeline parameters when the spare chip is identified;

[0074] If the judging module determines the output pipeline parameters, the processing module stores the pipeline parameters and completes the identification and detection of the current pipeline;

[0075] If the judging module determines that the pipeline parameters are not to be output, the processing module outputs the abnormal chip location information at the location where the spare chip location information is located and issues a warning.

[0076] By adopting the above technical solution, when the trolley needs to read the pipeline parameters during detection, the pipeline number information preset in the pipeline can be obtained through the acquisition module, and the position of the parameter chip in the pipeline can be obtained through the processing module and the pipeline number information, so that the trolley can move to the position of the parameter chip for identification and detection, so that the trolley can read the pipeline parameters more conveniently; when the parameter chip is identified, the judgment module is used to determine whether to output the pipeline parameters. If the pipeline parameters are not output, it means that the parameter chip is damaged or the parameter chip is not in the corresponding position. At this time, the trolley cannot obtain the pipeline parameters through the parameter chip. The parameter chip position information and the pipeline number information can be used to find the spare chip position information of the pipeline. At this time, the trolley can be moved to the spare chip to obtain the pipeline parameters.

[0077] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution:

[0078] An intelligent terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned underground pipeline chip detection methods.

[0079] By adopting the above technical solution and using the intelligent terminal, when the trolley needs to read the pipeline parameters for detection, the pipeline number information preset in the pipeline is used to obtain the position of the parameter chip in the pipeline, so that the trolley can move to the position of the parameter chip for identification and detection, so that the trolley can read the pipeline parameters more conveniently; when the parameter chip is identified, if the pipeline parameters are not output, it means that the parameter chip is damaged or the parameter chip is not in the corresponding position. At this time, the trolley cannot obtain the pipeline parameters through the parameter chip. The parameter chip position information and the pipeline number information can be used to find the spare chip position information of the pipeline. At this time, the trolley can be moved to the spare chip to obtain the pipeline parameters.

[0080] In a fourth aspect, the present application provides a computer storage medium capable of storing corresponding programs, which has the characteristic of enabling the vehicle to read pipeline parameters more conveniently, and adopts the following technical solution:

[0081] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned underground pipeline chip detection methods.

[0082] By adopting the above technical scheme, there is a computer program of the underground pipeline chip detection method in the storage medium. When the trolley needs to read the pipeline parameters for detection, the pipeline number information preset in the pipeline is used to obtain the position of the parameter chip in the pipeline, so that the trolley can move to the position of the parameter chip for identification and detection, so that the trolley can read the pipeline parameters more conveniently; when the parameter chip is identified, if the pipeline parameters are not output, it means that the parameter chip is damaged or the parameter chip is not in the corresponding position. At this time, the trolley cannot obtain the pipeline parameters through the parameter chip. The parameter chip position information and the pipeline number information can be used to find the spare chip position information of the pipeline. At this time, the trolley can be moved to the spare chip to obtain the pipeline parameters.

[0083] In summary, the present application includes at least one of the following beneficial technical effects:

[0084] The preset number of the pipeline can make it easier for the car to read the pipeline parameters;

[0085] When the car detects the pipeline, if the parameter chip and the spare chip are damaged, the original pipeline parameters of some pipelines can be queried through the database, so that the staff can repair it more conveniently;

[0086] The obtained pipeline parameters can also be verified to determine whether they are correct, thereby reducing the occurrence of incorrect parameter chip installation without detection and improving the stability of the vehicle during inspection and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] Figure 1 It is a flow chart of the underground pipeline chip detection method.

[0088] Figure 2 It is a flow chart of the car moving method.

[0089] Figure 3 It is a flow chart of the spare chip identification method.

[0090] Figure 4 This is a flow chart of the pipeline parameter acquisition method.

[0091] Figure 5 This is the flow chart of the original pipeline parameter acquisition method.

[0092] Figure 6 It is a flow chart of pipeline parameter verification method.

[0093] Figure 7 It is a flow chart of the vehicle lighting control method.

[0094] Figure 8 It is a module flow chart of the underground pipeline chip detection method. DETAILED DESCRIPTION

[0095] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-8 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0096] The embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0097] The embodiment of the present application discloses a method for detecting chips in underground pipelines, which enables a small vehicle to read pipeline parameters more conveniently and facilitates maintenance and inspection of pipelines.

[0098] Reference Figure 1 The method flow of underground pipeline chip detection includes the following steps:

[0099] Step S100: Obtain the pipeline number information preset in the pipeline.

[0100] The pipeline number information is obtained from a QR code printed on the inner wall of the pipeline, and the QR code is located in the same position on each pipeline. The pipeline number information stores the number corresponding to the pipeline and the location information of the chip, etc., which is a conventional technical means for personnel in this field and will not be elaborated on. The acquisition method is to move a trolley to a position relative to the QR code, and acquire the pipeline number information through a camera or other image collecting device, which is a conventional technical means for personnel in this field and will not be elaborated on.

[0101] Step S200: matching the parameter chip location information stored in the preset parameter chip location database with the pipeline number information to determine the parameter chip location information corresponding to the pipeline number information.

[0102] A parameter chip position database is established for each produced pipeline, which includes pipeline number information and corresponding parameter chip position information. The parameter chip is a chip that records pipeline parameters, such as an IC card. The information can be read by a card reader specifically for reading the chip, which is a conventional technical means of those skilled in the art and will not be elaborated on. The parameter chip position information is the information of the location of the parameter chip, which is somewhere in the pipeline. When the pipelines are connected to each other, all parameter chips are on the same horizontal line. The pipeline number information obtained by the trolley is matched with the pipeline number information in the parameter chip position database to obtain the position of the parameter chip corresponding to the current pipeline. The matching method is a conventional technical means of those skilled in the art and will not be elaborated on.

[0103] Step S300: According to the position corresponding to the parameter chip position information, the vehicle is controlled to move in a preset detection direction and stay at the position corresponding to the parameter chip position information, so as to identify the parameter chip.

[0104] The detection direction is a pre-set direction for the trolley to detect the pipeline, which is set by the staff according to the actual situation and will not be elaborated on; the control method is to set a chip for receiving signals at the power source of the trolley, and the chip is connected to an external remote control. The staff can control it through the remote control, or the staff stores the pre-set program at the power source of the trolley so that the trolley can run according to the program after starting. This belongs to the conventional technical means of personnel in this field and will not be elaborated on. The specific control method is set by the staff according to the situation; the trolley carries a card reader for reading the parameter chip, and the card reader is set on the mechanical arm. The mechanical arm is moved by the pre-set program, which is a conventional technical means of those skilled in the art and will not be elaborated on. When the trolley stays at the position corresponding to the position information of the parameter chip, the card reader can identify and read the parameter chip.

[0105] Step S400: Determine whether to output pipeline parameters when the parameter chip is identified.

[0106] Pipeline parameters are various parameters of the pipeline, including material, diameter, strength, thickness, length, production date and production unit, etc. They are set according to the actual production situation and will not be described here. The purpose of the judgment is to know whether the pipeline parameters can be obtained when the parameter chip is identified, so as to facilitate the operation of subsequent processes.

[0107] Step S401: If pipeline parameters are output, the pipeline parameters are stored and the identification and detection of the current pipeline is completed.

[0108] When the parameter chip is identified and the pipeline parameters are output, it means that the trolley obtains the pipeline parameters of the current pipeline. At this time, the identification and detection of the current pipeline is completed. The pipeline parameters are stored to facilitate the subsequent call of the acquired pipeline parameters. The memory for storing pipeline parameters is a conventional technical means for technicians in this field and will not be elaborated on.

[0109] Step S402: If the pipeline parameters are not output, the abnormal chip location information is output at the location of the parameter chip location information and the spare chip location information, pipeline number information and parameter chip location information stored in the preset spare chip location database are matched to determine the spare chip location information corresponding to the pipeline number information and the parameter chip location information.

[0110] When the parameter chip is identified and does not output the pipeline parameters, it means that the parameter chip of the current pipeline is damaged or the parameter chip is not installed at the location where the parameter chip is installed. At this time, the parameter chip of the current pipeline is abnormal, and the output abnormal chip positioning information locates the abnormal location to facilitate subsequent maintenance by the staff; the spare chip location database is a database formed by the arrangement and combination of several spare chip location information, several pipeline number information and several parameter chip location information. It is a conventional technical means for personnel in this field and will not be elaborated on. The pipeline number information of the current pipeline and the parameter chip location information are matched from the database to obtain the corresponding spare chip location information. The spare chip location information records the location of the spare chip in the current pipeline. The data, size, shape, etc. recorded in the spare chip and the parameter chip are completely consistent. The spare chip and the parameter chip are on the same horizontal line and the spare chips of all pipelines are on the same horizontal line, so that the trolley can read the pipeline parameters.

[0111] Step S500: According to the position corresponding to the spare chip position information, the trolley is controlled to move and stop at the position corresponding to the spare chip position information, so as to identify the spare chip.

[0112] The control method is to set a chip for receiving signals at the power source of the trolley. The chip is connected to an external remote control. The staff can control it through the remote control, or the staff can store the pre-set program at the power source of the trolley so that the trolley can run according to the program after it is started. This is a conventional technical means used by personnel in this field and will not be elaborated on. The specific control method is set by the staff according to the situation; the card reader carried on the trolley for reading the parameter chip can read the spare chip.

[0113] Step S600: Determine whether to output pipeline parameters when the spare chip is identified.

[0114] The purpose of the judgment is to find out whether the spare chip is identified by the trolley and whether it can obtain the pipeline parameters to facilitate the subsequent process.

[0115] Step S601: If pipeline parameters are output, the pipeline parameters are stored and the identification and detection of the current pipeline is completed.

[0116] When the spare chip is identified and outputs the pipeline parameters, it means that the trolley obtains the pipeline parameters of the current pipeline. At this time, the identification and detection of the current pipeline is completed. The pipeline parameters are stored to facilitate the subsequent call of the acquired pipeline parameters. The memory for storing pipeline parameters is a conventional technical means for technicians in this field and will not be elaborated on.

[0117] Step S602: If the pipeline parameters are not output, the abnormal chip location information is output at the location where the spare chip location information is located and a warning is issued.

[0118] When the spare chip is identified and no pipeline parameters are output, it means that the spare chip of the current pipeline is damaged or there is no spare chip installed at the location where the spare chip is installed. At this time, the pipeline parameters of the current pipeline cannot be obtained by reading the chip, and an alarm is issued to inform the staff. The abnormal chip positioning information enables the staff to know the location where the spare chip is damaged or not installed, which is convenient for subsequent maintenance.

[0119] Reference Figure 2 , when the parameter chip is recognized and no pipeline parameters are output, the moving methods of the car include:

[0120] Step S501: Obtain direction parameter information from a position corresponding to the parameter chip position information to a position corresponding to the spare chip position information.

[0121] The position corresponding to the parameter chip position information and the position corresponding to the spare chip position information can both be input into the corresponding coordinate axes in the computer, so that the computer can calculate the direction in which the trolley moves from the parameter chip position information to the spare chip position information. The information recording this direction is the direction parameter information, which facilitates the movement of the trolley. The calculation method is a conventional technical means of those skilled in the art and will not be elaborated on.

[0122] Step S502: Determine whether the direction corresponding to the direction parameter information is consistent with the detection direction.

[0123] The purpose of the judgment is to find out whether the direction in which the car needs to move from the position of the parameter chip to the position of the spare chip is consistent with the detection direction set in advance, so as to facilitate subsequent detection of the car.

[0124] Step S5021: If the direction corresponding to the direction parameter information is consistent with the detection direction, the vehicle is controlled to move and stay at the position corresponding to the spare chip position information according to the position corresponding to the spare chip position information, and identification detection is performed.

[0125] When the direction corresponding to the direction parameter information is consistent with the detection direction, it means that the car can move to the location of the spare chip during normal detection. At this time, the car can be controlled to move to the location of the spare chip to detect the spare chip. The car does not need to move in the opposite direction, which reduces the distance the car needs to move and saves energy.

[0126] Step S5022: If the direction corresponding to the direction parameter information is inconsistent with the detection direction, the spare chip position information is numbered and located, and the identification and detection of the current pipeline is completed.

[0127] When the direction corresponding to the direction parameter information is inconsistent with the detection direction, it means that the trolley needs to move from the parameter chip to the spare chip and needs to move in the opposite direction. At this time, the trolley needs to move a long distance, which wastes energy. Therefore, when it is inconsistent, the identification and detection of the current pipeline is terminated to save energy; at this time, the spare chip position information of the current pipeline is numbered and located for subsequent detection. The numbering and positioning are sorted from bottom to top in the order of detection. This is a conventional technical means for technicians in this field and will not be elaborated on.

[0128] Reference Figure 3 If the direction corresponding to the direction parameter information is inconsistent with the detection direction, the identification and detection method for the spare chip includes:

[0129] Step S503: Obtain the current moving distance information of the car.

[0130] The method of obtaining the information is to obtain the number of revolutions of the trolley wheel through the angle sensor preset on the trolley wheel, and then calculate the distance the trolley wheel has rotated based on the circumference of the trolley wheel. The distance is the current moving distance information of the trolley.

[0131] Step S504: determining whether the distance corresponding to the moving distance information is consistent with the distance corresponding to the preset reference distance information.

[0132] The distance corresponding to the benchmark distance information is a fixed value set in advance by the staff, which is the total length of all pipelines. The purpose of the judgment is to know whether the trolley has inspected all pipelines to facilitate subsequent operations.

[0133] Step S5041: If the distance corresponding to the moving distance information is consistent with the distance corresponding to the reference distance information, the vehicle is controlled to move in the opposite direction of the detection direction to identify and detect the spare chip at the position corresponding to the spare chip position information located by the number.

[0134] When the distance corresponding to the moving distance information is consistent with the distance corresponding to the reference distance information, it means that the trolley has completed the inspection of all pipelines. At this time, the trolley can be controlled to move in the opposite direction of the inspection direction to inspect the numbered and located spare chips. The inspection order should be sorted from large to small to obtain the pipeline parameters of some pipelines.

[0135] Step S5042: If the distance corresponding to the moving distance information is inconsistent with the distance corresponding to the reference distance information, continue to perform identification detection along the detection direction.

[0136] When the distance corresponding to the moving distance information is inconsistent with the distance corresponding to the reference distance information, it means that the trolley has not completed the first round of detection of all pipelines, and continues to move along the original program to reduce the occurrence of pipelines not being detected by the trolley.

[0137] Reference Figure 4 When the trolley moves in the opposite direction of the detection direction and outputs abnormal chip location information at the location where the spare chip location information is located, the method for obtaining the pipeline parameters includes:

[0138] Step S700: Analyze and match the pipeline arrangement information and the numbered pipeline information stored in the preset numbering database to determine the adjacent numbered pipeline information adjacent to the current numbered pipeline information.

[0139] The numbering database records the corresponding pipeline arrangement information and the corresponding numbered pipeline information when all pipelines are connected. When the trolley moves in the opposite direction of the detection direction and the spare chip fails to detect the pipeline parameters, the numbered pipeline information of the pipeline is paired with the numbered pipeline information stored in the numbering database. The pairing method is a conventional technical means for those skilled in the art and will not be elaborated on. The numbered pipeline information of the adjacent pipelines of the current pipeline can be determined by pairing, and the numbered pipeline information of the adjacent pipelines is the adjacent numbered pipeline information.

[0140] Step S701: According to the adjacent numbered pipe information, the valid pipe quantity information corresponding to the adjacent numbered pipe information is obtained from the stored pipe parameters.

[0141] A valid pipeline is a pipeline whose pipeline parameters have been detected. The adjacent pipelines of the current pipeline can be known based on the adjacent numbered pipeline information. After confirming the adjacent pipeline, it is confirmed from the stored acquired pipeline parameters whether the adjacent pipeline is a valid pipeline, and the number of valid pipelines is determined by counting. The information recording the number of valid pipelines is the valid pipeline number information. The counting method is a conventional technical means of those skilled in the art and will not be elaborated on.

[0142] Step S702: Determine whether the number corresponding to the valid pipeline quantity information is two.

[0143] The purpose of the judgment is to determine whether the adjacent pipelines of the current pipeline have all obtained pipeline parameters, so as to facilitate the subsequent acquisition of the pipeline parameters of the current pipeline.

[0144] Step S7021: If the number corresponding to the valid pipeline quantity information is two, the pipeline parameters stored in the preset parameter information database are matched with the pipeline parameters of the pipeline corresponding to the adjacent numbered pipeline information to determine the pipeline parameters of the current pipeline, and the pipeline parameters of the current pipeline are defined as the original pipeline parameters.

[0145] When the number corresponding to the valid pipeline quantity information is two, it means that the pipeline parameters of the two adjacent pipelines are measured. The parameter information database is a database established when all pipelines are installed. It stores the pipeline parameters of all pipelines when they are produced and all pipeline parameters are arranged in the order of pipeline installation. The pipeline parameters of the two adjacent pipelines can be matched with the pipeline parameters in the parameter information database to determine the pipeline parameters of the current pipeline. At this time, the pipeline parameters of the current pipeline should be the pipeline parameters corresponding to the production, and should not be the pipeline parameters corresponding to after maintenance and other operations. The pipeline parameters are defined as the original pipeline parameters.

[0146] Step S7022: If the number corresponding to the valid pipeline quantity information is not two, an alarm is issued and unidentified pipeline information is output.

[0147] When the number corresponding to the valid pipeline quantity information is not two, it means that at least one of the adjacent pipelines has not measured pipeline parameters. At this time, it is impossible to find out the pipeline parameters of the current pipeline by matching with the pipeline parameters in the parameter information database. An alarm is issued to inform the staff to facilitate subsequent maintenance. At the same time, the unidentified pipeline information output is the information that the pipeline parameters of the pipeline are not identified, which is convenient for subsequent staff to locate the pipeline.

[0148] Reference Figure 5 If the number of valid pipeline quantity information is not two, the method for obtaining the original pipeline parameters includes:

[0149] Step S703: Determine whether the number corresponding to the valid pipeline quantity information is one.

[0150] The purpose of the judgment is to confirm whether the adjacent pipelines of the current pipeline have no pipeline parameters, so as to facilitate the subsequent acquisition of the pipeline parameters of the current pipeline for other operations.

[0151] Step S7031: If the number corresponding to the valid pipeline quantity information is not one, a warning is issued.

[0152] When the number corresponding to the valid pipeline quantity information is not one, it means that the number corresponding to the valid pipeline quantity information is zero. At this time, an adjacent pipeline of the current pipeline has been detected when the trolley moved in the opposite direction of the detection direction, making it impossible to match the pipeline parameters of the current pipeline through the pipeline parameters of the adjacent pipeline. An alarm is issued to inform the staff to facilitate subsequent maintenance by the staff.

[0153] Step S7032: If the number corresponding to the valid pipeline quantity information is one, determine whether the valid pipeline is in the opposite direction of the vehicle detection direction.

[0154] When the number corresponding to the valid pipeline quantity information is one, it means that one of the adjacent pipelines of the current pipeline has measured the pipeline parameters. The purpose of the judgment is to know whether the valid pipeline is in a position where the trolley has moved, so as to facilitate subsequent judgment.

[0155] Step S70321: If the valid pipeline is in the opposite direction of the detection direction of the trolley, an alarm is issued.

[0156] When the effective pipeline is in the opposite direction of the trolley's detection direction, it means that the pipeline parameters of the pipeline that the trolley has passed have not been measured. At this time, the pipeline parameters of the adjacent pipelines cannot be matched and obtained subsequently. An alarm is issued to inform the staff to facilitate subsequent maintenance by the staff.

[0157] Step S70322: If the valid pipeline is not in the opposite direction of the detection direction of the trolley, the trolley is controlled to move in the opposite direction of the detection direction and move to the position corresponding to the spare chip position information of the adjacent pipeline for identification and detection, and determine whether to output the pipeline parameters.

[0158] When the effective pipeline is not in the opposite direction of the detection direction of the trolley, it means that whether the pipeline parameters of the current pipeline can be measured is determined by the pipeline parameters of the next pipeline to be moved to. At this time, the trolley is controlled to move to the corresponding position to identify the spare chip. The purpose of the judgment is to know whether the pipeline parameters can be output when the spare chip is identified, so as to affect whether the pipeline parameters of other pipelines can be obtained.

[0159] Step S704: If the pipeline parameters are output, the pipeline parameters stored in the parameter information database are matched with the new pipeline parameters and the pipeline parameters of the valid pipeline to determine the original pipeline parameters of the pipeline corresponding to the unidentified pipeline information.

[0160] When the pipeline parameters are output, it means that the previous pipeline can be obtained through the pipeline parameter matching method. For example, pipe No. 1, pipe No. 2 and pipe No. 3 are arranged and connected in sequence. The pipeline parameters of pipe No. 1 are known. If the pipeline parameters are not output when passing through pipe No. 2, the pipeline parameters of pipe No. 3 are output after detection. The pipeline parameters of pipe No. 2 can be supplemented with data based on the pipeline parameters of pipe No. 1 and pipe No. 3, so that the staff can know the original pipeline parameters of the pipeline corresponding to the unidentified pipeline information.

[0161] Step S705: If the pipeline parameters are not output, a warning is issued.

[0162] When the pipeline parameters are not output, it means that it is impossible to use this pipeline to fill other pipelines whose pipeline parameters have not been detected and identified, and an alarm is issued to remind the staff to facilitate maintenance.

[0163] Reference Figure 6 , the validation methods for pipeline parameters include:

[0164] Step S800: Acquire the current pipeline image information in the pipeline and the current moving length information of the trolley.

[0165] The current pipeline image information of the pipeline is obtained by taking pictures with a device for taking pictures installed on the trolley, such as a camera. The size, direction, zoom and other parameters in the current pipeline image information are set and adjusted by the camera, which is common knowledge for those skilled in the art and will not be elaborated on. The current moving length information of the trolley is obtained by the angle sensor set on the wheel, which is common knowledge for those skilled in the art and will not be elaborated on.

[0166] Step S801: performing matching analysis based on the pipeline image information and the preset connection port information to determine the connection port information in the pipeline image information, and outputting a node identifier when the vehicle is located at a position corresponding to the connection port information.

[0167] The connection port information is the connection port image information of the two pipes set in advance, including information such as welding stripes and splicing stripes at the pipe connection. It is a conventional technical means for those skilled in the art and will not be elaborated on. The connection port information in the pipe image information can be determined by the pipe image information and the preset connection port information. When the trolley determines the connection port information, the trolley can output the position of the connection between the two pipes. The position at this time is the node identifier.

[0168] Step S802: Obtain the pipeline number information corresponding to the adjacent node identifiers, and calculate the difference distance between the distances corresponding to the moving length information corresponding to the adjacent node identifiers.

[0169] The adjacent node identifiers can be used to determine which pipeline the two node identifiers correspond to. The difference distance is the difference in distances corresponding to the moving length information of the trolley at the two node identifiers, which is obtained by computer subtraction. The difference distance at this time is the pipeline length of the corresponding pipeline, which is a conventional technical means for those skilled in the art and will not be elaborated on.

[0170] Step S803: Determine whether the difference distance is consistent with the length in the pipeline parameters.

[0171] The purpose of the judgment is to find out whether the measured pipeline length is consistent with the length of the pipeline parameters recorded in the chip of the pipeline, so as to facilitate the subsequent verification of the pipeline parameters.

[0172] Step S8031: If the difference distance is consistent with the length in the pipeline parameter, a correct signal is output.

[0173] When the difference distance is consistent with the length in the pipeline parameters, it means that the obtained pipeline parameters are correct. At this time, a correct signal is output to inform the staff.

[0174] Step S8032: If the difference distance is inconsistent with the length in the pipeline parameter, an abnormal signal is output.

[0175] When the difference distance is inconsistent with the length in the pipeline parameters, it means that the obtained pipeline parameters are incorrect. It is possible that the chip is misplaced or the chip information is not updated in time. At this time, an abnormal signal is output to let the staff know that the pipeline parameters obtained for the pipeline are incorrect, so that the staff can make subsequent corrections and repairs.

[0176] Reference Figure 7 When the trolley moves in the pipeline, the lighting control methods include:

[0177] Step S900: Obtain the vehicle status information and pipeline brightness information.

[0178] The trolley status information is the working status of the trolley, which is divided into two states: start and stop. The pipeline brightness information is the corresponding brightness value in the pipeline, which is obtained by an instrument for measuring brightness set on the trolley, such as a photosensor. This is common knowledge among technicians in this field and will not be elaborated on.

[0179] Step S901: Determine whether the vehicle state information is consistent with the preset movement state information.

[0180] The preset moving state information is the information when the car is in the starting state, including power consumption, moving speed and other characteristics, in order to reduce the occurrence of misjudgment. The purpose of the judgment is to know whether the car is in the starting state, so as to facilitate the subsequent control of the lighting brightness.

[0181] Step S9011: If the vehicle status information is inconsistent with the movement status information, continue the identification and detection.

[0182] When the trolley status information is inconsistent with the moving status information, it means that the trolley is in a stopped state. At this time, the trolley is in a state of starting the mechanical arm to detect the parameter chip or the spare chip.

[0183] Step S9012: If the trolley state information is consistent with the moving state information, the start-up lighting preset on the trolley is activated to illuminate the inside of the pipeline, and it is determined whether the brightness corresponding to the pipeline brightness information is less than the brightness corresponding to the preset reference brightness.

[0184] When the trolley status information is consistent with the moving status information, it means that the trolley is in a moving state. At this time, the trolley needs to collect images inside the pipeline to determine the position of the connection port, turn on the starting light to illuminate the inside of the pipeline, so that the camera installed on the trolley can collect a clearer image of the inside of the pipeline. The starting light is set on the trolley and the lighting direction of the starting light is the same as the direction of the camera used to collect the image inside the pipeline. The brightness value corresponding to the starting light is constant; the reference brightness is the brightness set in advance that enables the camera to collect a clearer image. It is set by the staff according to the actual situation and will not be elaborated here. The purpose of the judgment is to know whether the brightness in the pipeline after the starting light is turned on can enable the camera to collect a clearer image, so as to facilitate the subsequent adjustment of the brightness.

[0185] Step S90121: If the brightness corresponding to the pipeline brightness information is less than the brightness corresponding to the reference brightness, the backup lighting preset on the trolley is started to adjust the brightness inside the pipeline until the brightness corresponding to the pipeline brightness information is adjusted to be consistent with the brightness corresponding to the reference brightness.

[0186] When the brightness corresponding to the pipeline brightness information is less than the brightness corresponding to the reference brightness, it means that the brightness in the pipeline is not enough for the camera to capture a clearer image. The backup lighting is set on the trolley and the lighting direction of the backup lighting is the same as the lighting direction of the start lighting. The brightness of the backup lighting changes according to the size of the working current. The size of the working current is obtained by the difference between the brightness corresponding to the pipeline brightness information and the brightness corresponding to the reference brightness. It is a conventional technical means for those skilled in the art and will not be elaborated on. When the brightness corresponding to the pipeline brightness information is consistent with the brightness corresponding to the reference brightness, the camera can capture a clearer image.

[0187] Step S90122: If the brightness corresponding to the pipeline brightness information is not less than the brightness corresponding to the reference brightness, the car continues to move.

[0188] When the brightness corresponding to the pipeline brightness information is not less than the brightness corresponding to the reference brightness, it means that the brightness of the start-up lighting is sufficient for the camera to capture a clearer image. At this time, the car only needs to continue moving.

[0189] Reference Figure 8 Based on the same inventive concept, an embodiment of the present invention provides an underground pipeline chip detection system, including:

[0190] An acquisition module, used to acquire pipeline number information preset in the pipeline;

[0191] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;

[0192] The processing module matches the parameter chip location information stored in the preset parameter chip location database with the pipeline number information to determine the parameter chip location information corresponding to the pipeline number information;

[0193] The processing module controls the vehicle to move in a preset detection direction according to the position corresponding to the parameter chip position information and to stop at the position corresponding to the parameter chip position information, so as to identify the parameter chip;

[0194] A judgment module, used to judge whether to output pipeline parameters when the parameter chip is identified;

[0195] If the judging module determines the output pipeline parameters, the processing module stores the pipeline parameters and completes the identification and detection of the current pipeline;

[0196] If the judging module determines that the pipeline parameters are not to be output, the processing module outputs the abnormal chip location information at the location of the parameter chip location information and matches the spare chip location information, pipeline number information and parameter chip location information stored in the preset spare chip location database to determine the spare chip location information corresponding to the pipeline number information and the parameter chip location information;

[0197] The processing module controls the vehicle to move and stop at the position corresponding to the spare chip position information according to the position corresponding to the spare chip position information, so as to identify the spare chip;

[0198] A judgment module, used to judge whether to output pipeline parameters when the spare chip is identified;

[0199] If the judging module determines the output pipeline parameters, the processing module stores the pipeline parameters and completes the identification and detection of the current pipeline;

[0200] If the judging module determines that the pipeline parameters are not to be output, the processing module outputs the abnormal chip location information at the location of the spare chip location information and issues a warning;

[0201] The trolley moving module is connected to the acquisition module, the judgment module and the processing module, and is used to control the movement of the trolley when the parameter chip is identified and the pipeline parameters are not output;

[0202] A spare chip identification module is connected to the acquisition module, the judgment module and the processing module, and is used to identify and detect the spare chip when the direction corresponding to the direction parameter information is inconsistent with the detection direction;

[0203] The pipeline parameter acquisition module is connected to the acquisition module, the judgment module and the processing module, and is used to acquire the pipeline parameters when the trolley moves in the opposite direction of the detection direction and outputs the abnormal chip location information at the location where the spare chip location information is located;

[0204] The original pipeline parameter acquisition module is connected to the acquisition module, the judgment module and the processing module, and is used to acquire the original pipeline parameters when the number corresponding to the effective pipeline quantity information is not two;

[0205] A verification module, connected with the acquisition module, the judgment module and the processing module, is used for verifying the pipeline parameters;

[0206] The lighting control module is connected to the acquisition module, the judgment module and the processing module, and is used to control the lighting when the trolley moves in the pipeline.

[0207] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0208] An embodiment of the present invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by a method for detecting underground pipeline chips.

[0209] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0210] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute an underground pipeline chip detection method.

[0211] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0212] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for detecting chips in underground pipelines, characterized in that: include: Get the pipeline number information preset in the pipeline; According to the parameter chip location information stored in the preset parameter chip location database, the parameter chip location information is matched with the pipeline number information to determine the parameter chip location information corresponding to the pipeline number information; According to the position corresponding to the position information of the parameter chip, the vehicle is controlled to move in a preset detection direction and stop at the position corresponding to the position information of the parameter chip, so as to identify the parameter chip; Determine whether to output pipeline parameters when the parameter chip is identified; If pipeline parameters are output, the pipeline parameters are stored and the identification and detection of the current pipeline is completed; If the pipeline parameters are not output, the abnormal chip location information is output at the location where the parameter chip location information is located, and the spare chip location information, pipeline number information and parameter chip location information stored in the preset spare chip location database are matched to determine the spare chip location information corresponding to the pipeline number information and the parameter chip location information; According to the position corresponding to the spare chip position information, the trolley is controlled to move and stop at the position corresponding to the spare chip position information to identify the spare chip; Determine whether to output pipeline parameters when the spare chip is identified; If pipeline parameters are output, the pipeline parameters are stored and the identification and detection of the current pipeline is completed; If the pipeline parameters are not output, the abnormal chip location information is output at the location of the spare chip location information and a warning is issued; Among them, when the parameter chip is recognized and the pipeline parameters are not output, the moving method of the car includes: Obtaining direction parameter information from the position corresponding to the parameter chip position information to the position corresponding to the spare chip position information; Determine whether the direction corresponding to the direction parameter information is consistent with the detection direction; If the direction corresponding to the direction parameter information is consistent with the detection direction, the vehicle is controlled to move and stop at the position corresponding to the spare chip position information according to the position corresponding to the spare chip position information, and identification detection is performed; If the direction corresponding to the direction parameter information is inconsistent with the detection direction, the spare chip position information is numbered and located, and the identification and detection of the current pipeline is completed.

2. The underground pipeline chip detection method according to claim 1, characterized in that: If the direction corresponding to the direction parameter information is inconsistent with the detection direction, the identification and detection method for the spare chip includes: Get the current moving distance information of the car; Determine whether the distance corresponding to the moving distance information is consistent with the distance corresponding to the preset reference distance information; If the distance corresponding to the moving distance information is consistent with the distance corresponding to the reference distance information, the vehicle is controlled to move in the opposite direction of the detection direction to identify and detect the spare chip at the position corresponding to the spare chip position information of the numbered location; If the distance corresponding to the moving distance information is inconsistent with the distance corresponding to the reference distance information, the identification detection continues along the detection direction.

3. The underground pipeline chip detection method according to claim 2, characterized in that: When the trolley moves in the opposite direction of the detection direction and outputs abnormal chip location information at the location where the spare chip location information is located, the method for obtaining the pipeline parameters includes: Analyze and match the pipeline arrangement information and the numbered pipeline information stored in the preset numbering database to determine the adjacent numbered pipeline information adjacent to the current numbered pipeline information; According to the adjacent numbered pipeline information, the valid pipeline quantity information corresponding to the adjacent numbered pipeline information is obtained from the stored pipeline parameters; Determine whether the number corresponding to the valid pipeline quantity information is two; If the number corresponding to the valid pipeline quantity information is two, the pipeline parameters of the current pipeline are determined by matching the pipeline parameters stored in the preset parameter information database with the pipeline parameters of the pipeline corresponding to the adjacent numbered pipeline information, and the pipeline parameters of the current pipeline are defined as the original pipeline parameters; If the number corresponding to the valid pipeline quantity information is not two, an alarm is issued and unidentified pipeline information is output.

4. The underground pipeline chip detection method according to claim 3 is characterized in that: If the number corresponding to the valid pipeline quantity information is not two, the method for obtaining the original pipeline parameters includes: Determine whether the quantity corresponding to the valid pipeline quantity information is one; If the number corresponding to the valid pipeline quantity information is not one, a warning is issued; If the number corresponding to the valid pipeline quantity information is one, it is determined whether the valid pipeline is in the opposite direction of the vehicle detection direction; If the effective pipeline is in the opposite direction of the trolley detection direction, an alarm will be issued; If the valid pipeline is not in the opposite direction of the detection direction of the trolley, the trolley is controlled to move in the opposite direction of the detection direction and move to the position corresponding to the position information of the spare chip of the adjacent pipeline for identification and detection, and determine whether to output the pipeline parameters; If the pipeline parameters are output, the pipeline parameters stored in the parameter information database are matched with the new pipeline parameters and the pipeline parameters of the valid pipeline to determine the original pipeline parameters of the pipeline corresponding to the unidentified pipeline information; Warning if pipeline parameters are not output.

5. The underground pipeline chip detection method according to claim 4 is characterized in that: The validation methods for pipeline parameters include: Obtain the current pipeline image information in the pipeline and the current moving length information of the trolley; Matching analysis is performed based on the pipeline image information and the preset connection port information to determine the connection port information in the pipeline image information, and a node identifier is output when the vehicle is located at a position corresponding to the connection port information; Obtain the pipeline number information corresponding to the adjacent node identifiers, and calculate the difference distance between the distances corresponding to the moving length information corresponding to the adjacent node identifiers; Determine whether the difference distance is consistent with the length in the pipeline parameters; If the difference distance is consistent with the length in the pipeline parameters, the correct signal is output; If the difference distance is inconsistent with the length in the pipeline parameters, an abnormal signal is output.

6. The underground pipeline chip detection method according to claim 5, characterized in that: When the trolley moves in the pipeline, the lighting control methods include: Get the car status information and pipeline brightness information; Determine whether the vehicle status information is consistent with the preset movement status information; If the vehicle status information is inconsistent with the mobile status information, continue the identification and detection; If the trolley state information is consistent with the moving state information, the start-up lighting lamp preset on the trolley is started to illuminate the inside of the pipeline, and it is determined whether the brightness corresponding to the pipeline brightness information is less than the brightness corresponding to the preset reference brightness; If the brightness corresponding to the pipeline brightness information is less than the brightness corresponding to the reference brightness, the backup lighting preset on the trolley is activated to adjust the brightness inside the pipeline until the brightness corresponding to the pipeline brightness information is adjusted to be consistent with the brightness corresponding to the reference brightness; If the brightness corresponding to the pipeline brightness information is not less than the brightness corresponding to the reference brightness, the car continues to move.

7. An underground pipeline chip detection system, characterized in that: include: An acquisition module, used to acquire pipeline number information preset in the pipeline; A processing module, connected to the acquisition module and the judgment module, for storing and processing information; The processing module matches the parameter chip location information stored in the preset parameter chip location database with the pipeline number information to determine the parameter chip location information corresponding to the pipeline number information; The processing module controls the vehicle to move in a preset detection direction according to the position corresponding to the parameter chip position information and to stop at the position corresponding to the parameter chip position information, so as to identify the parameter chip; A judgment module, used to judge whether to output pipeline parameters when the parameter chip is identified; If the judging module determines the output pipeline parameters, the processing module stores the pipeline parameters and completes the identification and detection of the current pipeline; If the judging module determines that the pipeline parameters are not to be output, the processing module outputs the abnormal chip location information at the location of the parameter chip location information and matches the spare chip location information, pipeline number information and parameter chip location information stored in the preset spare chip location database to determine the spare chip location information corresponding to the pipeline number information and the parameter chip location information; The processing module is also used to obtain direction parameter information from the position corresponding to the parameter chip position information to the position corresponding to the spare chip position information; Determine whether the direction corresponding to the direction parameter information is consistent with the detection direction; If the direction corresponding to the direction parameter information is consistent with the detection direction, the vehicle is controlled to move and stop at the position corresponding to the spare chip position information according to the position corresponding to the spare chip position information, and identification detection is performed; If the direction corresponding to the direction parameter information is inconsistent with the detection direction, the spare chip position information is numbered and located, and the identification and detection of the current pipeline is completed; The processing module controls the vehicle to move and stop at the position corresponding to the spare chip position information according to the position corresponding to the spare chip position information, so as to identify the spare chip; A judgment module, used to judge whether to output pipeline parameters when the spare chip is identified; If the judging module determines the output pipeline parameters, the processing module stores the pipeline parameters and completes the identification and detection of the current pipeline; If the judging module determines that the pipeline parameters are not to be output, the processing module outputs the abnormal chip location information at the location where the spare chip location information is located and issues a warning.

8. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes any one of the methods of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 6.

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