An intelligent pipeline inspection method

Abstract

The present invention is an intelligent pipeline inspection method involving intelligent management, including a robot and the following steps: dividing various types of instruments into a collection of end-point pipeline task instruments, common task instruments, and start-point pipeline task instruments according to task types; establishing a database of various types of instruments and associating each instrument with the inspection point it executes and the end-task point of the pipeline inspection type instrument, and configuring the pan-tilt angle of the instrument execution and the pan-tilt angle of the inspection point; during inspection, determining the instrument type at the inspection point, confirming the instrument type, and confirming the pipeline inspection task of the inspection point based on the instrument type; making warning judgments for pipeline stations based on the continuous inspection results of each type of instrument on the pipeline; and when the pipeline inspection task of the inspection point is completed, adjusting the pan-tilt angle and going to the next inspection point to execute the pipeline inspection task until all inspection tasks are completed. This can improve the application of pipeline types and continuous scene monitoring types in motion.

Description

Technical Field

[0001] The present invention relates to the field of intelligent management technology, and in particular to an intelligent pipeline inspection method. Background Art

[0002] With the development of the economy and the continuous improvement of the level of automation, energy such as oil and natural gas is being used by more and more people. As a result, the amount of energy transported is also increasing. There are multiple key stations along the transportation route, and intelligent explosion-proof inspection robots are gradually being used to replace manual labor to complete the inspection of key equipment.

[0003] Intelligent explosion-proof inspection robots often use a single task point parking inspection method. The inspection target is a single instrument or a single target, and the inspection action is only completed at one task point. This traditional inspection method only realizes fixed-point inspection, is not easy to expand, is not adaptable to complex scenarios, and is prone to missed inspections. It is not enough to reflect good monitoring business goals for single-point identification and monitoring of natural gas pipelines. Summary of the Invention

[0004] In order to overcome the shortcomings of the above-mentioned prior art, the main purpose of the present invention is to provide an intelligent pipeline inspection method, which can improve the application of pipeline types and continuous scene monitoring types in motion, and has very important significance and role in realizing truly comprehensive and comprehensive intelligent inspections of natural gas stations.

[0005] To achieve the above objectives, the present invention adopts the following technical solutions: an intelligent pipeline inspection method, including a robot, and further comprising the following steps:

[0006] According to the task type, various types of instruments are divided into end point pipeline task instruments, common task instruments, and start point pipeline task instruments;

[0007] Establish a database of various types of instruments, associate each instrument with the inspection point it performs, and associate the end task point of pipeline inspection instruments, and configure the PTZ angle of the instrument execution and the PTZ angle of the inspection point;

[0008] During inspection, determine the instrument type at the inspection point, confirm the instrument type, and confirm the pipeline inspection task at the inspection point based on the instrument type;

[0009] When the instrument at the inspection point belongs to the instrument set of the end point pipeline task, the instrument pipeline inspection task is ended;

[0010] If the instrument at the inspection point belongs to the set of common task instruments, the task is executed in sequence according to the corresponding identification logic according to the order of the instruments of this type to obtain the result;

[0011] If the instrument at the inspection point belongs to the starting point pipeline task instrument set, the pipeline inspection tasks will be started successively in the order of the instruments of this type;

[0012] Make warning judgments on pipeline sites based on the continuous inspection results of each type of instrument on the pipeline;

[0013] When the pipeline inspection task at the inspection point is completed, adjust the pan / tilt angle and go to the next inspection point to perform the pipeline inspection task until all inspection tasks are completed.

[0014] Preferably, the inspection result is to obtain a methane telemetry measurement value. When the measurement value exceeds a threshold range, the value is added to a warning value queue. When the measurement value does not exceed the threshold range, the value is not added to the warning value queue.

[0015] Preferably, the number of the warning values is at least 3.

[0016] Preferably, the methane telemetry measurement value in the warning value queue is selected whether to be recorded according to the inspection status of the inspection robot. When the inspection robot is in motion, the warning data and the robot status are recorded. When the inspection robot is in the first parking state, the warning value is recorded. When the inspection robot is in a non-first parking state, the current pan-tilt angle is compared with the pan-tilt angle of the last recorded warning value to obtain whether the pan-tilt angle has changed. When the pan-tilt angle has not changed, it is not recorded. When the pan-tilt angle changes, the warning data and the inspection robot status are recorded.

[0017] Preferably, the status of the inspection robot includes its location, pan-tilt coordinates, and taken pictures.

[0018] Compared with the existing technology, the beneficial effects of the present invention are: adding a pipeline inspection mode to the intelligent inspection mode of the intelligent explosion-proof robot is very meaningful, which can improve the application of pipeline types and continuous scene monitoring types in motion, and has very important significance and role in realizing truly comprehensive and comprehensive intelligent inspections of natural gas stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the process structure of the present invention;

[0020] Figure 2 This is the specific implementation process of the present invention;

[0021] Figure 3 It is a case execution flow chart of the present invention. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] Example 1:

[0024] An intelligent pipeline inspection method includes a robot for inspection and the following steps:

[0025] According to the task type, various types of instruments are divided into end point pipeline task instruments, common task instruments, and start point pipeline task instruments;

[0026] Establish a database of various types of instruments, associate each instrument with the inspection point it performs, and associate the end task point of pipeline inspection instruments, and configure the PTZ angle of the instrument execution and the PTZ angle of the inspection point;

[0027] During inspection, determine the instrument type at the inspection point, confirm the instrument type, and confirm the pipeline inspection task at the inspection point based on the instrument type;

[0028] When the instrument at the inspection point belongs to the instrument set of the end point pipeline task, the instrument pipeline inspection task is ended;

[0029] If the instrument at the inspection point belongs to the set of common task instruments, the task is executed in sequence according to the corresponding identification logic according to the order of the instruments of this type to obtain the result;

[0030] If the instrument at the inspection point belongs to the starting point pipeline task instrument set, the pipeline inspection tasks will be started successively in the order of the instruments of this type;

[0031] Make warning judgments for pipeline sites based on the continuous inspection results of each type of instrument on the pipeline;

[0032] When the pipeline inspection task at the inspection point is completed, adjust the pan / tilt angle and go to the next inspection point to perform the pipeline inspection task until all inspection tasks are completed.

[0033] Preferably, the inspection result is to obtain a methane telemetry measurement value. When the measurement value exceeds a threshold range, the value is added to a warning value queue. When the measurement value does not exceed the threshold range, the value is not added to the warning value queue.

[0034] Preferably, the number of warning values is at least 3.

[0035] Preferably, the methane telemetry measurement value in the warning value queue is recorded or not according to the inspection status of the inspection robot. When the inspection robot is in motion, the warning data and the robot status are recorded. When the inspection robot is in the first parking state, the warning value is recorded. When the inspection robot is not in the first parking state, the current pan-tilt angle is compared with the pan-tilt angle of the last recorded warning value to obtain whether the pan-tilt angle has changed. When the pan-tilt angle has not changed, it is not recorded. When the pan-tilt angle changes, the warning data and the inspection robot status are recorded.

[0036] Preferably, the status of the inspection robot includes its location, pan-tilt coordinates, and captured images.

[0037] Example 2:

[0038] The present invention provides an intelligent pipeline inspection technology, which is applied to an intelligent explosion-proof inspection robot to replace manual inspections. Based on Example 1, the technology needs to be used when the robot host computer software executes the inspection task. The inspection site has inspection points 1, 2, 3...10. There is an existing robot inspection task TaskA. TaskA includes task instruments such as task instrument pointer table identification 1, associated inspection point 1, digital table identification 2, associated inspection point 2, pipeline methane telemetry associated inspection point 2 as the starting point, and inspection point 10 as the end point, pipeline infrared temperature detection associated inspection point 3 as the starting point, and inspection point 7 as the end point, and pipeline visible light video capture associated inspection point 4 as the starting point, and inspection point 9 as the end point.

[0039] When executing the task, first filter the inspection points 1, 2, 3, 4, 7, 9, and 10 associated with the instrument in TaskA, send the target point, and the robot will arrive at each inspection point in turn to perform the task.

[0040] Arriving at inspection point 1, executing pointer table identification 1;

[0041] Arrive at inspection point 2, execute digital table identification 2, start pipeline methane telemetry, and the pipeline methane telemetry task begins to execute detection logic, obtain methane telemetry measurement values in real time, and add the value to the warning value queue when the measurement value exceeds the threshold range. When the measurement value is normal, the queue is cleared. Set three consecutive data detections to exceed the limit. When there are three or more warning values in the queue, prepare to record alarm data based on conditional judgment: If the robot is in motion, directly record the alarm data and its robot status. The robot status includes the robot's current position, gimbal coordinates, and captured pictures; when the robot is in the parking state, if it is the first parking state, if it is detected that the warning value needs to be recorded, it is recorded directly. If it is not the first parking state, determine whether the gimbal has rotated compared with the last time the warning value was recorded. If the angle has not rotated, it is considered that the same angle is continuously detected during parking and no record is made. If the gimbal angle has rotated compared with the last time the warning value was recorded, the alarm data and the robot status are recorded.

[0042] Arrive at inspection point 3 and start pipeline infrared temperature detection. After startup, execute according to the logic of the pipeline instrument, obtain infrared temperature in real time, take pictures and record alarm data when the temperature exceeds the range. The logic refers to the execution logic of pipeline methane telemetry.

[0043] Arriving at inspection point 4, the pipeline visible light video shooting is started. After starting, the pipeline instrument logic is executed and the visible light camera begins video recording.

[0044] Arriving at inspection point 7, the pipeline infrared temperature detection is ended, the infrared temperature value acquisition is stopped, and the saved detection data and related photos are uploaded to the server.

[0045] Arriving at inspection point 9, the pipeline visible light video shooting is ended, the visible light video recording is stopped, and the saved video is uploaded to the server.

[0046] Arrive at inspection point 10, end the pipeline methane task, stop methane telemetry, and upload the saved detection data and related photos to the server.

[0047] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0048] The above embodiments are merely examples of the present invention and do not limit the scope of protection of the present invention. Any designs that are identical or similar to the present invention fall within the scope of protection of the present invention.

Claims

1. An intelligent pipeline inspection method, comprising a robot, characterized in that: The following steps are also included: According to the task type, various types of instruments are divided into end point pipeline task instruments, common task instruments, and start point pipeline task instruments; Establish a database of various types of instruments, associate each instrument with the inspection point it performs, and the end task point of pipeline inspection instruments, and configure the PTZ angle of the instrument execution and the PTZ angle of the inspection point; During inspection, determine the instrument type at the inspection point, confirm the instrument type, and confirm the pipeline inspection task at the inspection point based on the instrument type; When the instrument at the inspection point belongs to the instrument set of the end point pipeline task, the instrument pipeline inspection task is ended; If the instrument at the inspection point belongs to the set of common task instruments, the task is executed in sequence according to the corresponding identification logic according to the order of the instruments of this type to obtain the result; If the instrument at the inspection point belongs to the starting point pipeline task instrument set, the pipeline inspection tasks will be started successively in the order of the instruments of this type; Make warning judgments on pipeline sites based on the continuous inspection results of each type of instrument on the pipeline; When the pipeline inspection task at the inspection point is completed, adjust the pan / tilt angle and go to the next inspection point to perform the pipeline inspection task until all inspection tasks are completed; The inspection result is to obtain a methane telemetry measurement value. When the measurement value exceeds the threshold range, the value is added to the warning value queue. When the measurement value does not exceed the threshold range, it is not added to the warning value queue. The methane telemetry measurement value in the warning value queue is selected whether to be recorded according to the inspection status of the inspection robot. When the inspection robot is in motion, the warning data and the robot status are recorded. When the inspection robot is in the first parking state, the warning value is recorded. When the inspection robot is not in the first parking state, the current pan-tilt angle is compared with the pan-tilt angle of the last recorded warning value to obtain whether the pan-tilt angle has changed. When the pan-tilt angle has not changed, it is not recorded. When the pan-tilt angle changes, the warning data and the inspection robot status are recorded.

2. The intelligent pipeline inspection method according to claim 1, characterized in that: The number of the warning values is at least 3.

3. The intelligent pipeline inspection method according to claim 1, characterized in that: The inspection robot status includes its location, pan / tilt coordinates, and captured images.

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