Pipeline monitoring method, device and computer readable storage medium

Abstract

The application discloses a pipeline monitoring method, comprising: a first detection device moving inside a pipeline based on a detection scheme and acquiring first pipeline information; a second detection device determining first position information of the first detection device and transmitting the first position information to a monitoring platform in real time; when the first detection device finishes the detection scheme, in each second detection device, a target detection device meeting a preset condition is determined, and the first pipeline information is transmitted to the target detection device; and the target detection device transmits the received first pipeline information to the monitoring platform. The application also discloses a pipeline monitoring device and a computer readable storage medium. The application accurately acquires real-time pipeline information of each position inside the pipeline and performs data analysis, under the condition that the pipeline normally operates, the pipeline is monitored in a range and an abnormal point is detailedly investigated, and the accuracy of online monitoring of the pipeline is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of pipeline monitoring, in particular to a pipeline monitoring method, device and computer readable storage medium. BACKGROUND

[0002] The pressure pipeline is a tubular device for conveying gas or liquid by using certain pressure, the range of which is defined as the pipeline with the maximum working pressure greater than or equal to 0.1 MPa (gauge pressure), the medium being gas, liquefied gas, steam or flammable, explosive, toxic, corrosive, liquid with the maximum working temperature higher than or equal to the standard boiling point, and the nominal diameter being greater than or equal to 50 mm. Since the objects transported by the pressure pipeline are mostly dangerous, once leakage occurs, not only poisoning of personnel may be caused, but also explosion danger exists, and even catastrophic accidents may be caused, which easily threatens the life and property safety of the people.

[0003] Therefore, the safety and stability of the pressure pipeline is very important, and the pressure pipeline needs to be monitored regularly to exclude safety hazards. The online monitoring of the pressure pipeline refers to monitoring the pressure pipeline under the condition of the operation of the pressure pipeline, and the related online monitoring technology of the pressure pipeline can only roughly monitor the flow data of the section, and cannot accurately know the information inside the pipeline and the accurate position of the leakage point. SUMMARY

[0004] The main purpose of the present application is to provide a pipeline monitoring method, device and computer readable storage medium, which aims to monitor the range and investigate the abnormal points in detail without stopping the normal operation of the pressure pipeline.

[0005] To achieve the above purpose, the present application provides a pipeline monitoring method, which is applied to a pipeline monitoring system, the pipeline monitoring system comprising a first detection device, a plurality of second detection devices and a monitoring platform, each second detection device being arranged on the inner wall of the pipeline, and the pipeline monitoring method comprising the following steps:

[0006] The first detection device moves in the pipeline based on a detection scheme and acquires first pipeline information;

[0007] The second detection device determines first position information of the first detection device and transmits the first position information to the monitoring platform in real time;

[0008] When the first detection device completes the detection scheme, in each second detection device, a target detection device meeting a preset condition is determined, and the first pipeline information is transmitted to the target detection device;

[0009] The target detection device transmits the received first pipeline information to the monitoring platform.

[0010] Preferably, the step of moving inside the pipeline and acquiring the first pipeline information by the first detection device based on the detection scheme comprises:

[0011] The first detection device receives a detection instruction and generates the detection scheme based on the detection instruction, wherein the detection scheme comprises a preset motion trajectory inside the pipeline.

[0012] The first detection device moves inside the pipeline based on the preset motion trajectory, acquires the first pipeline information in real time, and stores the first pipeline information into a storage card carried by the first detection device.

[0013] Preferably, before the step of moving inside the pipeline and acquiring the first pipeline information by the first detection device based on the detection scheme, the method further comprises:

[0014] If the first detection device does not receive the detection instruction within a preset time, the first detection device automatically generates the detection scheme based on pipeline geographic information and a preset instruction.

[0015] Preferably, the step of determining the first position information of the first detection device in real time by the second detection device and transmitting the first position information to the monitoring platform in real time comprises:

[0016] The first detection device transmits a position signal in real time, and in each second detection device, the detection device receiving the position signal determines the first position information based on the position signal in real time.

[0017] The detection device transmits the first position information to the monitoring platform in real time.

[0018] Preferably, after the first detection device completes the detection scheme, in each second detection device, a target detection device meeting a preset condition is determined, and the first pipeline information is transmitted to the target detection device, and the step comprises:

[0019] Each second detection device sends a positioning signal every preset time interval.

[0020] After the first detection device completes the detection scheme, the second detection device corresponding to the first positioning signal received after the current time is taken as the target detection device.

[0021] The first detection device moves towards the target detection device and determines whether the first detection device enters the data transmission range of the target detection device based on the signal strength between the first detection device and the target detection device.

[0022] If entering, the first pipeline information is transmitted to the target second detection device.

[0023] Preferably, the pipeline monitoring method further comprises:

[0024] Each of the second detection devices determines a second position information of itself inside the pipeline and collects second pipeline information in real time;

[0025] Each of the second detection devices transmits the second pipeline information and the second position information to the monitoring platform in real time.

[0026] Preferably, after the step of transmitting the received first pipeline information to the monitoring platform by the target detection device, the pipeline monitoring method further comprises:

[0027] The monitoring platform performs data analysis on the first pipeline information, the first position information, the second pipeline information and the second position information to obtain pipeline comprehensive information;

[0028] The monitoring platform sends the pipeline comprehensive information to a target user terminal.

[0029] Preferably, after the step of sending the pipeline comprehensive information to the target user terminal by the monitoring platform, the pipeline monitoring method further comprises:

[0030] The monitoring platform acquires a user instruction sent by the target user terminal and generates a detection instruction based on the user instruction;

[0031] The monitoring platform sends the detection instruction to the target detection device;

[0032] The target detection device sends the detection instruction to the first detection device.

[0033] In addition, to achieve the above object, the present application also provides a pipeline monitoring device, which comprises a memory, a processor and a pipeline monitoring program stored in the memory and executable on the processor, and the pipeline monitoring program realizes the steps of the pipeline monitoring method when executed by the processor.

[0034] In addition, to achieve the above object, the present application also provides a computer readable storage medium, which stores a pipeline monitoring program, and the pipeline monitoring program realizes the steps of the pipeline monitoring method when executed by a processor.

[0035] The pipeline monitoring method proposed in this invention involves a first detection device moving inside the pipeline based on a detection plan to acquire first pipeline information; a second detection device determining the first location information of the first detection device and transmitting this first location information to a monitoring platform in real time; upon completion of the detection plan, the first detection device identifies a target detection device among the second detection devices that meets preset conditions and transmits the first pipeline information to the target detection device; the target detection device then transmits the received first pipeline information to the monitoring platform. By accurately acquiring real-time pipeline information at various locations inside the pipeline through various detection devices and transmitting it to the monitoring platform, the acquired pipeline information can be analyzed subsequently through the monitoring platform. This allows for accurate determination of the information and location of abnormal points inside the pipeline under normal operating conditions, enabling range-based monitoring and detailed investigation of abnormal points, thus improving the accuracy of online pipeline monitoring. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the structure of the pipeline monitoring equipment in the hardware operating environment involved in the embodiments of the present invention;

[0037] Figure 2 This is a schematic flowchart of the first embodiment of the pipeline monitoring method of the present invention;

[0038] Figure 3 This is a schematic diagram of the structure of a pipeline monitoring system in one embodiment of the pipeline monitoring method of the present invention;

[0039] Figure 4 This is a schematic diagram of the longitudinal and cross-sectional sections of a pipeline during the operation of a detection robot inside a pipeline, according to one embodiment of the pipeline monitoring method of the present invention.

[0040] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0041] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0042] like Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of the pipeline monitoring equipment in the hardware operating environment involved in the embodiments of the present invention.

[0043] The pipeline monitoring device in this invention embodiment can be a PC, or a terminal device with display function such as a smartphone, tablet computer, or portable computer.

[0044] like Figure 1As shown, the pipeline monitoring device can include a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. The communication bus 1002 is used to realize the connection communication between the components. The user interface 1003 can include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 can also include a standard wired interface, a wireless interface. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface). The memory 1005 can be a high-speed RAM memory, or a stable memory (non-volatile memory) such as a disk memory. The memory 1005 can also be an independent storage device from the aforementioned processor 1001.

[0045] Optionally, the pipeline monitoring device can also include a camera, an RF (Radio Frequency, radio frequency) circuit, a sensor, an audio circuit, a WiFi module, and the like. Among them, the sensor is, for example, a light sensor, a motion sensor, and other sensors, which will not be described here.

[0046] Those skilled in the art can understand that Figure 1 The terminal structure shown in the figure does not constitute a limitation on the pipeline monitoring device, and can include more or fewer components than the figure, or combine certain components, or different component arrangements.

[0047] As Figure 1 As shown, the memory 1005 as a computer storage medium can include an operating system, a network communication module, a user interface module, and a pipeline monitoring program.

[0048] In Figure 1 As shown in the pipeline monitoring device, the network interface 1004 is mainly used to connect the background server and communicate data with the background server; the user interface 1003 is mainly used to connect the client (user end) and communicate data with the client; and the processor 1001 can be used to call the pipeline monitoring program stored in the memory 1005.

[0049] In this embodiment, the pipeline monitoring device includes a memory 1005, a processor 1001, and a pipeline monitoring program stored in the memory 1005 and executable on the processor 1001, wherein the processor 1001 calls the pipeline monitoring program stored in the memory 1005 to execute the steps of the pipeline monitoring method in each of the following embodiments.

[0050] The present application also provides a pipeline monitoring method, which is applied to the pipeline monitoring device as Figure 3The pipeline monitoring system shown comprises a first detection device, a plurality of second detection devices, and a monitoring platform, each of the second detection devices is arranged on the inner wall of the pipeline, and the first detection device is arranged on the outer wall of the pipeline Figure 2 , Figure 2 The flowchart of the pipeline monitoring method is shown in the first embodiment of the present application.

[0051] In this embodiment, the pipeline monitoring method comprises the following steps:

[0052] In step S101, the first detection device moves inside the pipeline based on a detection scheme and acquires first pipeline information.

[0053] In this embodiment, according to the detection scheme, the first detection device moves inside the pipeline, and at the same time, acquires the first pipeline information and stores the acquired information. For example, the first detection device is a detection robot that can move inside the pipeline. The detection robot comprises a detection module, a storage module, a driving module, etc. The detection scheme comprises a preset motion trajectory of the detection robot and pipeline information that needs to be collected, etc. According to the preset motion trajectory, the detection robot drives itself to move inside the pipeline through the driving module. The driving module can comprise propellers in various directions. Then, the detection robot collects the pipeline information that needs to be collected through the detection module. The detection module can comprise a pressure sensor, a flowmeter, a stethoscope, a camera, etc. The pipeline information that needs to be collected can be water pressure, flow rate, environmental audio, environmental image, etc. After acquiring the pipeline information, the pipeline information is stored in the storage module. The storage module can be a storage card carried by the detection robot.

[0054] It should be noted that each pipeline information collected by the first detection device contains its corresponding time information, i.e., the collection time point of the pipeline information, so as to facilitate subsequent data processing of all pipeline information.

[0055] In another embodiment, the detection robot further comprises a fixing module. When the detection scheme needs to continuously collect pipeline information of a target point, the detection robot can be controlled to the target point through the driving module, and then fixed through the fixing module, and then the pipeline information is collected through the detection module.

[0056] In another embodiment, the detection robot further comprises a power generation module. When the power of the detection robot is lower than a preset threshold, the detection robot will automatically reside inside the pipeline and charge through the power generation module.

[0057] In step S102, the second detection device determines the first position information of the first detection device and transmits the first position information to the monitoring platform in real time.

[0058] In this embodiment, the second detection device acquires the first position information corresponding to the first detection device in real time, that is, the position of the first detection device in the pipeline is acquired in real time through the position signal and the time point corresponding to the position is associated as the first position information. For example, the first detection device is a detection robot inside the pipeline. The detection robot further includes a signal sending module, and the second detection device is a plurality of data transmission monitoring devices arranged at fixed positions on the inner wall of the pipeline. Figure 4 When the detection robot is inside the pipeline, the signal sending module sends the position signal to the outside in real time. When the nearby data transmission monitoring device receives the position signal, the current position of the detection robot inside the pipeline can be obtained, and the current position is associated with the time point when the position signal is received to determine the real-time position information of the detection robot. After the data transmission monitoring device determines the real-time position information of the detection robot, the position information is transmitted to the monitoring platform.

[0059] It should be noted that since the speed of the position signal transmission is greatly different from the speed of the first detection device movement, the time loss during the position signal transmission can be basically ignored, and the time point when the position signal is received can be regarded as the time point corresponding to the position of the first detection device.

[0060] In another embodiment, the above-mentioned position signal can be an infrasound wave signal. The detection robot emits an infrasound wave signal in real time, and the data transmission monitoring device near the detection robot can determine the real-time position information of the detection robot according to the received infrasound wave signal.

[0061] In step S103, when the first detection device completes the detection scheme, in each of the second detection devices, a target detection device meeting a preset condition is determined, and the first pipeline information is transmitted to the target detection device.

[0062] In the embodiment, when the first detection device completes the detection scheme, in each second detection device, the second detection device closest to itself is determined as the target detection device, and the target detection device is moved to, when entering the data transmission range, the first pipeline information collected is transmitted to the target detection device. For example, the first detection device is a detection robot, and the second detection device is a plurality of data transmission monitoring devices arranged at fixed positions on the inner wall of the pipeline. Each data transmission monitoring device regularly sends a positioning signal that can be received by the detection robot. According to the detection scheme, the detection robot moves to the last position of the preset motion track, and after completing the collection of pipeline information in the detection scheme, the detection robot is stopped by the fixed module. Then, according to the next received positioning signal sent by each data transmission monitoring device, the data transmission monitoring device corresponding to the first received positioning signal is determined as the data transmission monitoring device closest to itself, and the data transmission monitoring device is moved to. When the data transmission range of the data transmission monitoring device is reached, the pipeline information collected is transmitted to the data transmission monitoring device.

[0063] In another embodiment, the detection robot can determine the data transmission monitoring device closest to itself according to the last position of the motion track in the detection scheme and the pipeline network geographic information, and automatically move to the data transmission monitoring device.

[0064] In step S104, the target detection device transmits the received first pipeline information to the monitoring platform.

[0065] In the embodiment, after the target detection device receives the first pipeline information transmitted by the first detection device, the target detection device transmits the first pipeline information to the monitoring platform. For example, the first detection device is a detection robot, and the second detection device is a plurality of data transmission monitoring devices arranged at fixed positions on the inner wall of the pipeline. When the detection robot completes the detection scheme, the data transmission monitoring device closest to itself is the target detection device. When the target detection device receives the pipeline information transmitted by the detection robot, the received pipeline information can be transmitted to the monitoring platform through a 4G / 5G network, so that the monitoring platform can perform data analysis on the pipeline information.

[0066] The pipeline monitoring method provided in the embodiment can accurately acquire real-time pipeline information at each position inside the pipeline through the detection device and transmit the pipeline information to the monitoring platform, so that subsequent data analysis on the acquired pipeline information can be performed through the monitoring platform, thereby accurately determining information and positions of abnormal points inside the pipeline in the case of normal operation of the pipeline, performing range monitoring on the pipeline and detailed investigation on the abnormal points, and improving the accuracy of online monitoring of the pipeline.

[0067] Based on the first embodiment, a second embodiment of the pipeline monitoring method is provided, and in the second embodiment, step S101 includes:

[0068] In step S201, the first detection device receives a detection instruction and generates the detection scheme based on the detection instruction, wherein the detection scheme includes a preset motion trajectory inside the pipeline.

[0069] In step S202, the first detection device moves inside the pipeline based on the preset motion trajectory, acquires the first pipeline information in real time, and stores the first pipeline information in a storage card carried by the first detection device.

[0070] In the embodiment, when the first detection device receives the detection instruction, the detection scheme is generated according to the detection instruction, the detection scheme includes a preset motion trajectory of the first detection device inside the pipeline, the first detection device moves inside the pipeline according to the preset motion trajectory, and acquires the first pipeline information, and at the same time, stores the acquired pipeline information in a storage card carried by the first detection device. For example, the first detection device is a detection robot that can move inside the pipeline, and a plurality of data transmission monitoring devices at fixed positions on the inner wall of the pipeline are provided as second detection devices. The data transmission monitoring devices can send detection instructions to the detection robot. When the detection robot receives the detection instruction, the detection scheme is generated, the detection scheme includes a motion trajectory of the detection robot, and can also include pipeline information that needs to be acquired. The detection robot moves inside the pipeline according to the detection scheme, acquires the pipeline information that needs to be acquired, and at the same time, stores the acquired pipeline information in a storage card carried by the detection robot.

[0071] The pipeline monitoring method provided in the embodiment receives a detection instruction by the first detection device, generates the detection scheme based on the detection instruction, wherein the detection scheme comprises a preset motion track inside the pipeline; then the first detection device moves inside the pipeline based on the preset motion track, acquires the first pipeline information in real time, and stores the first pipeline information into a storage card carried by the first detection device. According to the detection instruction, the required pipeline information is collected at the specified position inside the pipeline, so that when the acquired pipeline information is analyzed by the monitoring platform, the information and position of the abnormal point inside the pipeline can be accurately determined, and the accuracy of the online monitoring of the pipeline is improved.

[0072] Based on the first embodiment, a third embodiment of the pipeline monitoring method is provided, and before step S101, the method further comprises:

[0073] In step S301, if the first detection device does not receive the detection instruction within the preset time, the detection scheme is automatically generated based on the pipeline network geographic information and the preset instruction.

[0074] In the embodiment, if the first detection device does not receive the detection instruction within the preset time, the detection scheme is automatically generated according to the pipeline network geographic information and the preset instruction, so that the pipeline information can be collected inside the pipeline according to the detection scheme subsequently. For example, the first detection device is a detection robot which can move inside the pipeline and collect the pipeline information. If the detection robot does not receive a new detection instruction within 10 minutes after the previous detection scheme is executed, the detection robot automatically generates a detection scheme according to the pipeline network geographic information and the preset instruction in the program, so that the step of collecting the pipeline information inside the pipeline according to the detection scheme can be executed subsequently, such as automatically generating a detection scheme of continuing to move along the current pipeline for 20 minutes and automatically collecting the pipeline information.

[0075] It should be noted that the pipeline network geographic information is also called pipeline network GIS information, which comprises information of the pipeline network in the geographic position, so as to facilitate the query and management of the pipeline network.

[0076] In another embodiment, when the detection robot completes the detection scheme and does not receive a new detection instruction, the detection robot can enter a standby state by the preset instruction until the next detection instruction is received.

[0077] In another embodiment, when the detection robot receives a new detection instruction while executing a detection scheme, the current detection scheme is interrupted, a new detection scheme is generated according to the detection instruction and executed, and then the stored pipeline information is transmitted uniformly after the new detection scheme is executed.

[0078] The pipeline monitoring method provided in the embodiment can make the first detection device collect and store pipeline information inside the pipeline according to the automatically generated detection scheme, and the automatically generated detection scheme is reasonable, and the intelligence of pipeline online monitoring is improved.

[0079] Based on the first embodiment, a fourth embodiment of the pipeline monitoring method is provided, and in the fourth embodiment, step S102 includes:

[0080] In step S401, the first detection device sends a position signal in real time, and in each second detection device, the detection device receiving the position signal determines the first position information based on the position signal in real time.

[0081] In step S402, the detection device transmits the first position information to the monitoring platform in real time.

[0082] In the embodiment, when the first detection device moves inside the pipeline, the first detection device sends a position signal in real time. Since the inner wall of the pipeline is provided with a plurality of second detection devices, the positions of the second detection devices are fixed. When any second detection device receives the position signal sent by the first detection device, the first position information of the first detection device is determined according to the position signal. The first position information includes the position of the first detection device and the time point corresponding to the position. The second detection device determining the first position information transmits the first position information to the monitoring platform in real time. For example, the first detection device is a detection robot moving inside the pipeline, and the second detection devices are a plurality of data transmission monitoring devices arranged on the inner wall of the pipeline. When the detection robot moves inside the pipeline, the detection robot sends a position signal in real time. The position signal can be an infrasound signal. Each data transmission monitoring device has a range in which the infrasound signal can be received. When the detection robot is in the range of any data transmission monitoring device, the data transmission monitoring device receives the infrasound signal and determines the current position of the detection robot according to the infrasound signal. Then, the current position and the time point of the current time are associated as the real-time position information of the detection robot. Then, the data transmission monitoring device can transmit the position information to the monitoring platform through a 4G / 5G network.

[0083] It should be noted that there can be a case where a plurality of second detection devices receive the position signal sent by the first detection device. In this case, each second detection device determines the first position information corresponding to the first detection device according to the position signal received by the second detection device, and the second detection devices do not interfere with each other.

[0084] The pipeline monitoring method provided in the embodiment can realize real-time sending of position signals by the first detection device, real-time determination of the first position information of the first detection device based on the position signals in each second detection device receiving the position signals, and real-time transmission of the first position information from the detection device to the monitoring platform. In the normal operation of the pipeline, the position signals conducive to underwater positioning are used to determine the position information of the first detection device moving inside the pipeline in real time, and the position information is transmitted to the monitoring platform, so that subsequent data analysis can be performed according to the position information, and the timeliness and accuracy of online monitoring of the pipeline are improved.

[0085] Based on the first embodiment, the fifth embodiment of the pipeline monitoring method is provided in the present application, and in the embodiment, step S103 comprises:

[0086] In step S501, each second detection device sends a positioning signal every preset time interval.

[0087] In step S502, when the first detection device completes the detection scheme, the second detection device corresponding to the first positioning signal received after the current time is taken as the target detection device.

[0088] In step S503, the first detection device moves towards the target detection device, and determines whether the first detection device enters the data transmission range of the target detection device based on the signal strength between the first detection device and the target detection device.

[0089] In step S504, if the first detection device enters the data transmission range of the target detection device, the first pipeline information is transmitted to the target second detection device.

[0090] In the embodiment, the first detection device moves according to the preset motion track in the detection scheme and collects the first pipeline information. When the first detection device moves to the last position of the preset motion track and completes the collection of the first pipeline information, it is regarded that the first detection device has executed the detection scheme. Then, the first detection device determines the second detection device meeting the preset condition as the target detection device. Since each second detection device simultaneously sends a positioning signal every preset time interval, according to the time difference of receiving the positioning signal, the second detection device corresponding to the first received positioning signal is regarded as the second detection device closest to itself. When the first detection device has executed the detection scheme, the second detection device corresponding to the first received positioning signal after the current time is regarded as meeting the preset condition and is taken as the target detection device, that is, among the second detection devices, the target detection device is closest to the first detection device. Then, the first detection device moves to the target detection device and determines whether it has entered the data transmission range of the target detection device according to the signal strength between itself and the target detection device. If it has entered, it starts to transmit the first pipeline information to the target detection device. For example, the first detection device is a detection robot moving in the pipeline, the second detection device is a data transmission monitoring device arranged on the inner wall of the pipeline at a fixed position, the preset time interval is 1 minute, each data transmission monitoring device simultaneously sends a positioning signal every 1 minute, the detection robot includes a driving module and a fixing module. When the detection robot has executed the detection scheme, the data transmission monitoring device corresponding to the first received positioning signal is taken as the target detection device in the positioning signal received after the current time. At this time, according to the time difference of receiving the positioning signal, it can be judged that the data transmission monitoring device is closest to the detection robot. Then, the detection robot moves to the data transmission monitoring device through the driving module. The smaller the distance between the detection robot and the data transmission monitoring device, the greater the signal strength. When the signal strength increases to the data transmission range, the detection robot is fixed through the fixing module and transmits the collected pipeline information to the data transmission monitoring device. The data transmission mode can be underwater electromagnetic wave communication.

[0091] In another embodiment, the detection robot can also determine the data transmission monitoring device closest to itself through the last position of the preset motion track and the pipeline network geographic information and take the data transmission monitoring device as the target detection device.

[0092] In another embodiment, the data connection established between the detection robot and the data transmission monitoring device can also be underwater laser communication or other underwater wireless communication technologies. The collected pipeline information is transmitted to the data transmission monitoring device through underwater wireless communication.

[0093] The pipeline monitoring method provided in the embodiment, each second detection device sends a positioning signal every preset time length; when the first detection device completes the detection scheme, the first detection device regards the second detection device corresponding to the first positioning signal received after the current time as the target detection device; the first detection device moves to the target detection device, and determines whether the first detection device enters the data transmission range of the target detection device based on the signal strength between the first detection device and the target detection device; if yes, the first pipeline information is transmitted to the target second detection device. After the first detection device completes the detection scheme, the first detection device can automatically find the second detection device closest to the first detection device in the first time and transmit the collected first pipeline information, thereby avoiding waste of time and energy of the first detection device and improving the timeliness and intelligence of online monitoring of the pipeline.

[0094] Based on the first embodiment, a sixth embodiment of the pipeline monitoring method is provided in the embodiment, and the pipeline monitoring method further includes:

[0095] In step S601, each second detection device determines second position information of itself in the pipeline and collects second pipeline information in real time.

[0096] In step S602, each second detection device transmits the second pipeline information and the second position information to the monitoring platform in real time.

[0097] In the embodiment, each second detection device is located at a fixed position in the pipeline, the second position information includes position information corresponding to each second detection device, each second detection device collects second pipeline information at the position of the second detection device, and the second detection device transmits the second pipeline information and the second position information to the monitoring platform in real time. For example, the second detection device is a data transmission monitoring device arranged on the inner wall of the pipeline at a plurality of fixed positions, each data transmission monitoring device includes a detection module, a positioning module, and a data transmission module, each data transmission monitoring device determines the position of the data transmission monitoring device through the positioning module, and obtains pipeline information at the position of the data transmission monitoring device through the detection module, including water pressure, flow rate, environmental audio, environmental image, etc. Each pipeline information includes corresponding time information, i.e., a time point at which the pipeline information is collected. After the data transmission monitoring device collects the pipeline information, the data transmission monitoring device transmits the pipeline information and the position information to the monitoring platform in real time through a 4G / 5G network, so that the monitoring platform analyzes the pipeline information corresponding to the position of each data transmission monitoring device.

[0098] The pipeline monitoring method provided in the embodiment determines the second position information of each second detection device in the pipeline and collects second pipeline information in real time; each second detection device transmits the second pipeline information and the second position information to the monitoring platform in real time. The second detection device at each fixed position is used to obtain real-time pipeline information at each fixed position in the pipeline, so that the monitoring platform can analyze the obtained pipeline information, thereby accurately determining whether each fixed position in the pipeline is abnormal under the condition that the pipeline is normally running, performing range monitoring on the pipeline, and improving the accuracy of online monitoring of the pipeline.

[0099] Based on the above-mentioned embodiments, a seventh embodiment of the pipeline monitoring method is provided. In the seventh embodiment, after step S104, the method further comprises:

[0100] In step S701, the monitoring platform analyzes the first pipeline information, the first position information, the second pipeline information, and the second position information to obtain pipeline comprehensive information.

[0101] In step S702, the monitoring platform sends the pipeline comprehensive information to a target user terminal.

[0102] After step S702, the method further comprises:

[0103] In step S801, the monitoring platform obtains a user instruction sent by the target user terminal and generates a detection instruction based on the user instruction.

[0104] In step S802, the monitoring platform sends the detection instruction to the target detection device.

[0105] In step S803, the target detection device sends the detection instruction to the first detection device.

[0106] In the embodiment, the second detection device transmits the obtained first pipeline information, first position information, second pipeline information, and second position information to the monitoring platform. The monitoring platform analyzes the obtained pipeline information and position information to obtain pipeline comprehensive information and sends the pipeline comprehensive information to a target user terminal. Then, the monitoring platform obtains a user instruction sent by the target user terminal, generates a detection instruction based on the user instruction, and sends the detection instruction to the second detection device. The second detection device sends the detection instruction to the first detection device, so that the first detection device can generate a detection scheme based on the detection instruction.

[0107] For example, the first detection device is a detection robot that can move inside the pipeline, and the second detection device is a plurality of data transmission monitoring devices arranged at fixed positions on the inner wall of the pipeline. The data transmission monitoring devices obtain the pipeline information collected by the detection robot and the real-time position information corresponding to the pipeline information, and transmit them to the monitoring platform through a 4G / 5G network. In addition, the data transmission monitoring devices obtain the pipeline information at their own positions and transmit the pipeline information and their own position information to the monitoring platform through the 4G / 5G network, so that the monitoring platform can determine the internal conditions of the pipeline at the positions of the detection robot at each time point, as well as the internal conditions of the pipeline at the positions of each data transmission monitoring device at each time point, and perform data analysis. Through data analysis by the monitoring platform, comprehensive pipeline information is obtained, which can include DMA partition measurement data, pipe burst prompt, leakage point marking, pipeline internal anomaly marking, and pipeline GIS information, etc. The DMA partition measurement data includes: cutting the pipeline network into a plurality of independent measurement areas, measuring the inflow and outflow of each area to determine the leakage status of each area; the pipe burst prompt includes: if the real-time water pressure at a certain position of the pipeline suddenly exceeds the normal water pressure, the position is determined and a pipe burst prompt is given in time; if the water pressure suddenly decreases to below the normal water pressure and remains below the normal water pressure, and the flow increases, it is determined that a pipe burst has occurred; the leakage point marking includes: determining the positions where leakage points may exist through flow and environmental audio monitoring, determining the positions of larger leakage points through sudden changes in pipeline flow, determining the approximate positions of smaller leakage points through real-time audio data and comparison with the leakage audio database in the background and database, and then driving the detection robot to investigate the areas where leakage points exist and mark the precise positions of the leakage points; the pipeline internal anomaly marking includes: marking the precise positions of abnormalities found during the daily detection process of the detection robot; the pipeline GIS information includes: when the data transmission monitoring devices are installed, the positions are confirmed by RTK (Real-time kinematic, real-time differential positioning), and then the depth of the pipeline is measured by instruments, and the data is input into the software to automatically generate a pipeline GIS image. After obtaining the above-mentioned comprehensive pipeline information, the comprehensive pipeline information is sent to the target user end through a 4G / 5G network, so that relevant personnel can detect or process the pipeline according to the comprehensive pipeline information displayed on the target user end. The relevant personnel can also send user instructions to the monitoring platform through the target user end. The target user end sends the user instructions to the monitoring platform through a 4G / 5G network. The monitoring platform receives the user instructions and generates detection instructions according to the user instructions, and sends the detection instructions to the data transmission monitoring devices that receive the pipeline information transmitted by the detection robot through a 4G / 5G network. Then, the data transmission monitoring devices send the detection instructions to the detection robot through underwater wireless communication, so that the subsequent detection robot can generate a detection scheme according to the detection instructions.

[0108] The pipeline monitoring method provided in the embodiment obtains pipeline comprehensive information by performing data analysis on the first pipeline information, the first position information, the second pipeline information and the second position information through the monitoring platform; then the monitoring platform sends the pipeline comprehensive information to a target user end; the monitoring platform acquires a user instruction sent by the target user end and generates a detection instruction based on the user instruction; the monitoring platform sends the detection instruction to the target detection device; finally, the target detection device sends the detection instruction to the first detection device. By performing data analysis on the acquired pipeline information through the monitoring platform, the overall information of the pipeline network, the information of the abnormal points in the pipeline and the accurate positions of the abnormal points are accurately determined in the case of normal operation of the pipeline, the pipeline is monitored in a range and the abnormal points are checked in detail, the accuracy of online monitoring of the pipeline is improved, and meanwhile, the detection instruction is automatically generated according to the user instruction to determine the detection scheme of the first detection device, the intelligence of the pipeline monitoring is improved.

[0109] In addition, the embodiment of the application further provides a pipeline monitoring device, which comprises a memory, a processor and a pipeline monitoring program stored in the memory and executable on the processor, and the pipeline monitoring program implements the steps of the pipeline monitoring method when executed by the processor.

[0110] In addition, the application further provides a computer readable storage medium, preferably a computer readable storage medium, which stores a pipeline monitoring program, and the pipeline monitoring program implements the steps of the pipeline monitoring method when executed by a processor.

[0111] It should be noted that, in this document, the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or system. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the process, method, article or system including the element.

[0112] The above-mentioned serial numbers of the embodiments of the application are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0113] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, can also be through hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application essentially or say the part of the prior art contribution can be embodied in the form of software products, the computer software product is stored in a storage medium (such as ROM / RAM, magnetic disc, optical disc) as described above, including a number of instructions to make a terminal device (may be a mobile phone, computer, server, air conditioner, or network equipment, etc.) executes the method described in various embodiments of the present application.

[0114] The above is only the preferred embodiment of the present application, not therefore limit the patent scope of the present application, any equivalent structure or equivalent flow transformation using the content of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A pipeline monitoring method, characterized in that, The pipeline monitoring method is applied to a pipeline monitoring system, which includes a first detection device, a second detection device, and a monitoring platform. The first detection device includes a fixed module, and multiple second detection devices are provided, each of which is respectively installed on the inner wall of the pipeline. The pipeline monitoring method includes the following steps: The first detection device moves inside the pipeline based on the detection plan and acquires the first pipeline information; The second detection device determines the first location information of the first detection device and transmits the first location information to the monitoring platform in real time; The second detection device determines the first location information of the first detection device by: the second detection device acquiring the position of the first detection device in the pipeline and associating the time point corresponding to the position as the first location information; When the first detection device completes the detection plan, it identifies a target detection device that meets preset conditions among the various second detection devices and transmits the first pipeline information to the target detection device, including: Each of the second detection devices sends a positioning signal at preset intervals; According to the detection scheme, after the first detection device moves to the last position of the preset movement trajectory and completes the collection of pipeline information in the detection scheme, the first detection device stays in place through the fixing module. Based on the first positioning signal received after the current time, the second detection device corresponding to the first positioning signal is taken as the target detection device. The first detection device moves toward the target detection device, and determines whether the first detection device has entered the data transmission range of the target detection device based on the signal strength between the first detection device and the target detection device; If it enters, the first detection device fixes itself through the fixing module and transmits the first pipeline information to the target detection device; The target detection device transmits the received first pipeline information to the monitoring platform.

2. The pipeline monitoring method as described in claim 1, characterized in that, The steps of the first detection device moving inside the pipeline and acquiring first pipeline information based on the detection plan include: The first detection device receives a detection command and generates the detection plan based on the detection command, wherein the detection plan includes a preset motion trajectory inside the pipe; The first detection device moves inside the pipe based on the preset motion trajectory, acquires the first pipe information in real time, and stores the first pipe information in the memory card carried by the first detection device.

3. The pipeline monitoring method as described in claim 1, characterized in that, Before the step of the first detection device moving inside the pipeline based on the detection scheme and acquiring the first pipeline information, the method further includes: If the first detection device does not receive a detection instruction within a preset time, it automatically generates the detection plan based on the pipeline network geographic information and the preset instruction.

4. The pipeline monitoring method as described in claim 1, characterized in that, The step of the second detection device determining the first location information of the first detection device in real time and transmitting the first location information to the monitoring platform in real time includes: The first detection device emits a position signal in real time, and in each of the second detection devices, the detection device that receives the position signal determines the first position information in real time based on the position signal; The detection device transmits the first location information to the monitoring platform in real time.

5. The pipeline monitoring method as described in claim 1, characterized in that, The pipeline monitoring method also includes: Each of the second detection devices determines its own second position information inside the pipeline and collects second pipeline information in real time; Each of the second detection devices transmits the second pipeline information and the second location information to the monitoring platform in real time.

6. The pipeline monitoring method according to any one of claims 1 to 5, characterized in that, After the step of the target detection device transmitting the received first pipeline information to the monitoring platform, the method further includes: The monitoring platform performs data analysis on the first pipeline information, the first location information, the second pipeline information, and the second location information to obtain comprehensive pipeline information; The monitoring platform sends the comprehensive pipeline information to the target user terminal.

7. The pipeline monitoring method as described in claim 6, characterized in that, After the monitoring platform sends the comprehensive pipeline information to the target user terminal, it also includes: The monitoring platform acquires user instructions sent by the target user terminal and generates detection instructions based on the user instructions; The monitoring platform sends the detection command to the target detection device; The target detection device sends the detection command to the first detection device.

8. A pipeline monitoring device, characterized in that, The pipeline monitoring device includes: a memory, a processor, and a pipeline monitoring program stored in the memory and executable on the processor, wherein the pipeline monitoring program, when executed by the processor, implements the steps of the pipeline monitoring method as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The readable storage medium stores a pipeline monitoring program, which, when executed by a processor, implements the steps of the pipeline monitoring method as described in any one of claims 1 to 7.

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