Drainage pipe detection method, system, storage medium and intelligent terminal

Abstract

This application relates to a drainage pipe inspection method, system, storage medium, and intelligent terminal, covering the field of pipe inspection technology. The method includes obtaining soil layer wall thickness information and pipe height information; determining soil layer duration information based on the soil layer wall thickness information and soil layer propagation velocity, and determining pipe duration information based on pipe height information and pipe propagation velocity; determining standard duration information based on the soil layer duration information and pipe duration information; controlling a signal transmitting device to output a positioning signal to determine propagation duration information; determining difference duration information based on the standard duration information and propagation duration information; determining whether the difference duration information is less than an upper limit duration value; if so, determining detection position information and controlling the pipe inspection device and signal transmitting device to move a fixed distance in a fixed direction; if not, correcting the position of the signal transmitting device based on the propagation duration information until they are aligned. This application facilitates the location of pipe defects.

Description

Technical Field

[0001] The present application relates to the field of pipeline detection technology, and in particular to a drainage pipeline detection method, system, storage medium and intelligent terminal. Background Art

[0002] Drainage pipes refer to the system of pipes and ancillary facilities that collect and discharge sewage, wastewater, and rainwater. To ensure the proper flow of these waters, drainage pipes require regular inspection and maintenance. When inspecting pipes, the pipe between two wells is typically designated as a single inspection unit to facilitate the development of a corresponding inspection plan.

[0003] In related technologies, pipeline inspection is generally achieved by moving pipeline inspection equipment within the pipeline. The commonly used pipeline inspection equipment is a pipeline inspection robot. When the pipeline robot moves within the pipeline, in order to know the movement of the robot, the actual position of the robot is generally determined by the number of rotations of the robot's wheels. When the pipeline robot detects defects in the pipeline, it can mark the defects in the pipeline according to the robot's position, so that subsequent staff can perform maintenance.

[0004] Regarding the above-mentioned related technologies, the inventor believes that due to the presence of some water stains and foreign objects in the drainage pipe, the robot may slip or bump during movement, resulting in a certain deviation between the distance the robot moves and the number of rotations of the wheels. At this time, the position of the robot cannot be determined by the number of rotations of the wheels, which makes it inconvenient to locate the position of the defects in the pipe. There is still room for improvement. Summary of the Invention

[0005] In order to facilitate the determination of the position of the detection equipment to locate the position of the pipeline defect, the present application provides a drainage pipeline detection method, system, storage medium and intelligent terminal.

[0006] In a first aspect, the present application provides a drainage pipe detection method, which adopts the following technical solution:

[0007] A drainage pipe detection method, comprising:

[0008] Obtain soil wall thickness information and pipeline height information;

[0009] Calculate the soil layer duration information based on the soil layer wall thickness information and the preset soil layer propagation speed, and calculate the pipeline duration information based on the pipeline height information and the preset pipeline propagation speed;

[0010] The standard time information is determined by summing the soil layer time information and the pipeline time information;

[0011] Controlling a signal sending device preset on the ground and directly above the pipeline detection equipment to output a positioning signal and start timing, and stopping timing when the pipeline detection equipment receives the positioning signal to output transmission duration information;

[0012] Calculate the difference between the standard duration information and the propagation duration information to determine the difference duration information;

[0013] Determine whether the value corresponding to the difference duration information is less than the preset upper limit duration value;

[0014] If the value corresponding to the difference duration information is less than the upper limit duration value, an alignment signal is output and the sending position information of the signal sending device is obtained. The detection position information is determined based on the sending position information. After the detection position information is determined, the pipeline detection device and the signal sending device are controlled to move a preset fixed distance in a preset fixed direction, and a positioning signal is output again after the movement is completed.

[0015] If the value corresponding to the difference duration information is not less than the upper limit duration value, the position of the signal sending device is corrected according to the propagation duration information until the alignment signal is output.

[0016] By adopting the above technical solution, when a pipeline is inspected using a pipeline inspection device, the signal sending device is controlled to move synchronously during the process of controlling the movement of the pipeline inspection device, so that the positioning signal output by the signal sending device can be received by the pipeline inspection device to determine whether the position of the pipeline inspection device is relative to the signal sending device. Therefore, the position of the inspection device can be determined by determining the position of the signal sending device, so as to facilitate the location of the pipeline defect.

[0017] Optionally, methods for determining soil layer thickness information include:

[0018] Obtain the design wall thickness information of the soil layer;

[0019] Control the pipeline inspection equipment to be lowered along the preset vertical direction at the wellhead and obtain the lowering distance information in real time;

[0020] Calculating the difference between the design wall thickness information and the lowering distance information to determine the difference distance information;

[0021] Determine whether the distance value corresponding to the difference distance information is less than a preset lower limit distance value;

[0022] If the distance value corresponding to the difference distance information is not less than the lower limit distance value, the pipeline detection equipment is maintained and continued to be lowered;

[0023] If the distance value corresponding to the difference distance information is less than the lower limit distance value, the distance measuring device preset on the pipeline detection equipment is controlled to obtain the side distance information in real time;

[0024] The difference between the lateral distance information before and after the preset unit time is calculated to determine the changed distance information, and when the distance value corresponding to the changed distance information is greater than the preset reasonable value, the lowered distance information is determined as the soil layer wall thickness information.

[0025] By adopting the above technical solution, during the lowering process of the pipeline detection equipment, the time to start the distance measuring equipment can be determined based on the soil wall thickness at the time of design, and the actual soil wall thickness can be determined based on the distance direction from the side during the lowering process of the pipeline detection equipment, thereby achieving accurate determination of the soil wall thickness information.

[0026] Optionally, when the distance value corresponding to the changed distance information is greater than a reasonable value, the method for determining the soil layer wall thickness information further includes:

[0027] Control the pipeline inspection equipment to continue lowering and control the countdown of the preset lowering time;

[0028] Determine whether the distance value corresponding to the changed distance information is not greater than a reasonable value before the lowering timer is reset to zero;

[0029] If the distance value corresponding to the change distance information does not appear to be less than the reasonable value before the lowering timer returns to zero, the lowering distance information when the distance value corresponding to the change distance information first appears to be greater than the reasonable value is determined as the soil layer wall thickness information;

[0030] If the distance value corresponding to the changed distance information is not greater than the reasonable value before the lowering timer returns to zero, the current lowering distance information is defined as abnormal distance information, and it is determined whether the distance value corresponding to the abnormal distance information is greater than the value corresponding to the design wall thickness information;

[0031] If the distance value corresponding to the abnormal distance information is not greater than the value corresponding to the design wall thickness information, continue to lower the pipeline inspection equipment to re-determine the soil wall thickness information;

[0032] If the distance value corresponding to the abnormal distance information is greater than the value corresponding to the design wall thickness information, the lowering distance information when the distance value corresponding to the last change distance information is greater than the reasonable value is determined as the soil layer wall thickness information.

[0033] By adopting the above technical solution, the situation where the soil layer wall thickness is incorrectly determined due to a deep depression in the side wall of the water well can be eliminated, thereby further improving the accuracy of the determination of the soil layer wall thickness information.

[0034] Optionally, a method for determining pipeline height information includes:

[0035] After the soil layer thickness information is determined, the pipeline image information below the pipeline detection equipment is obtained;

[0036] Determine whether there is a preset foreign body feature in the image corresponding to the pipeline image information;

[0037] If there are foreign body features in the image corresponding to the pipeline image information, the pipeline inspection device is controlled to translate along a fixed direction by a preset avoidance distance until no foreign body features are found in the collected image;

[0038] If there is no foreign object feature in the image corresponding to the pipeline image information, tire pressure information is obtained, and pressure change information is determined based on the tire pressure information before and after the unit time length;

[0039] When the value corresponding to the pressure change information is greater than the preset mutation value, the difference between the lowering distance information and the soil layer wall thickness information is calculated to determine the pipeline height information.

[0040] By adopting the above technical solution, the actual situation of the pipeline below can be analyzed during the lowering process of the pipeline detection equipment, so that the position of foreign objects can be avoided when they appear, so that the pipeline detection equipment can be placed more stably inside the pipeline, thereby realizing accurate determination of the pipeline height information.

[0041] Optionally, the method for correcting the position of the signal sending device includes:

[0042] Controlling the signal sending device to move a preset unit distance in a fixed direction, and sending a positioning signal after the movement to determine new propagation duration information;

[0043] Determine whether the duration corresponding to the transmission duration information is reduced;

[0044] If the duration corresponding to the transmission duration information decreases, the control signal sending device continues to move in the fixed direction until the alignment signal is output;

[0045] If the duration corresponding to the transmission duration information is not reduced, the signal sending device is controlled to move in the opposite direction of the fixed direction until an alignment signal is output.

[0046] By adopting the above technical solution, when the position of the signal sending device is corrected, the corrected moving direction of the signal sending device can be determined, so as to facilitate subsequent control of the signal sending device to perform corresponding movement.

[0047] Optionally, the movement method for correcting the position of the signal sending device includes:

[0048] Get the current displacement distance information;

[0049] The tilt angle information is determined by calculation based on the propagation time information, pipeline height information, soil wall thickness information, soil propagation velocity and pipeline propagation velocity;

[0050] Determine the deviation distance information based on the pipeline height information, soil layer wall thickness information and tilt angle information;

[0051] Calculate the difference between the deviation distance information and the current displacement distance information to determine the remaining distance information;

[0052] Determine whether the distance corresponding to the remaining distance information is less than a preset adjustment value;

[0053] If the distance corresponding to the remaining distance information is not less than the adjustment value, the control signal sending device continues to move along the original direction;

[0054] If the distance corresponding to the remaining distance information is less than the adjustment value, the signal sending device is controlled to send a positioning signal every time it moves a unit distance along the original direction until an alignment signal is output to control the signal sending device to stop moving.

[0055] By adopting the above technical solution, the deviation distance can be determined to control the signal sending device to move to the corresponding distance first, and then fine-tune it within the distance to achieve alignment between the signal sending device and the pipeline detection device.

[0056] Optionally, the method for moving the pipeline inspection equipment along a fixed direction includes:

[0057] Obtain detection image information;

[0058] Determine whether there is a preset defect feature in the image corresponding to the detection image information;

[0059] If there is no defect feature in the image corresponding to the detection image information, the pipeline detection device is controlled to move in a fixed direction until the moving distance reaches a fixed distance;

[0060] If there are defect features in the image corresponding to the detected image information, the pipeline detection device and the signal sending device are controlled to stop moving, and the signal sending device is controlled to output a positioning signal to determine whether to output an alignment signal;

[0061] If an alignment signal is output, the defect position is defined according to the detection position information, and after the defect position is determined, the pipeline detection equipment and the signal sending equipment are re-controlled to move a fixed distance in a fixed direction;

[0062] If the alignment signal is not output, the pipeline detection device is controlled not to move, and the signal sending device is controlled to perform position correction.

[0063] By adopting the above technical solution, if a defect is detected during the movement of the pipeline detection equipment, the pipeline detection equipment can be stopped to locate the position of the pipeline detection equipment, thereby effectively determining the location of the pipeline defect.

[0064] In a second aspect, the present application provides a drainage pipe detection system, which adopts the following technical solutions:

[0065] A drainage pipe detection system, comprising:

[0066] Acquisition module, used to obtain soil wall thickness information and pipeline height information;

[0067] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;

[0068] The judgment module is connected with the acquisition module and the processing module and is used for judging the information;

[0069] The processing module calculates the soil layer duration information based on the soil layer wall thickness information and the preset soil layer propagation speed, and calculates the pipeline duration information based on the pipeline height information and the preset pipeline propagation speed;

[0070] The processing module performs sum calculation based on the soil layer duration information and the pipeline duration information to determine the standard duration information;

[0071] The processing module controls the signal sending device preset on the ground and directly above the pipeline detection equipment to output the positioning signal and start timing, and stops timing when the pipeline detection equipment receives the positioning signal to output the transmission time information;

[0072] The processing module calculates the difference between the standard duration information and the propagation duration information to determine the difference duration information;

[0073] The judgment module judges whether the value corresponding to the difference duration information is less than the preset upper limit duration value;

[0074] If the determination module determines that the value corresponding to the difference duration information is less than the upper limit duration value, the processing module outputs an alignment signal and obtains the transmission position information of the signal transmitting device, and determines the detection position information based on the transmission position information. After the detection position information is determined, the processing module controls the pipeline detection device and the signal transmitting device to move a preset fixed distance in a preset fixed direction, and outputs a positioning signal again after the movement is completed.

[0075] If the judgment module determines that the value corresponding to the difference duration information is not less than the upper limit duration value, the processing module corrects the position of the signal sending device according to the propagation duration information until an alignment signal is output.

[0076] By adopting the above technical solution, when the pipeline detection equipment is used to detect the pipeline, the processing module controls the signal sending device to move synchronously with the movement of the pipeline detection equipment, so that the positioning signal output by the signal sending device can be received by the pipeline detection equipment, so that the judgment module can determine whether the position of the pipeline detection equipment is relative to the signal sending device. Therefore, the position of the detection equipment can be determined by determining the position of the signal sending device, so as to facilitate the location of the pipeline defect.

[0077] In a third aspect, the present application provides a smart terminal that 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 one of the above-mentioned drainage pipe detection methods.

[0079] By adopting the above technical solution and using a smart terminal, when a pipeline is inspected using pipeline inspection equipment, the signal sending device is controlled to move synchronously with the movement of the pipeline inspection equipment, so that the positioning signal output by the signal sending device can be received by the pipeline inspection equipment to determine whether the position of the pipeline inspection equipment is relative to the signal sending device. Thus, the position of the inspection equipment can be determined by determining the position of the signal sending device, thereby facilitating the location of the pipeline defect.

[0080] In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which is characterized by facilitating the determination of the position of a detection device to locate a pipeline defect, 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 drainage pipe detection methods.

[0082] By adopting the above technical solution, a computer program of a drainage pipe detection method is stored in a storage medium. When a pipe detection device is used to detect a pipe, the signal sending device is controlled to move synchronously during the movement of the pipe detection device, so that the positioning signal output by the signal sending device can be received by the pipe detection device to determine whether the position of the pipe detection device is relative to the signal sending device. The position of the detection device can be determined by determining the position of the signal sending device, so as to facilitate the positioning of the position of the pipe defect.

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

[0084] 1. The position of the pipeline detection device is determined through signal interaction between the signal sending device and the pipeline detection device, so that the pipeline detection device can mark the defect location more accurately when it detects a pipeline defect;

[0085] 2. Use the process of lowering the pipeline inspection equipment to determine the actual values ​​of the soil wall thickness and pipeline height, so that the results of subsequent inspections are more accurate;

[0086] 3. The signal sending device can be controlled to make reasonable position corrections according to the deviation distance of the signal sending device. BRIEF DESCRIPTION OF THE DRAWINGS

[0087] Figure 1 It is a flow chart of the drainage pipe detection method.

[0088] Figure 2 It is a schematic diagram of the drainage pipe inspection process.

[0089] Figure 3 It is a flow chart of the method for determining the soil wall thickness.

[0090] Figure 4 It is a flow chart of the method for eliminating misjudgment of soil wall thickness.

[0091] Figure 5 It is a flow chart of the pipeline height determination method.

[0092] Figure 6 is a flow chart of a method for determining a moving direction.

[0093] Figure 7 It is a flow chart of the movement situation control method.

[0094] Figure 8 It is a schematic diagram of the equipment misalignment situation.

[0095] Figure 9 It is a flow chart of the device detection movement method.

[0096] Figure 10 It is a module flow chart of the drainage pipe detection method. DETAILED DESCRIPTION

[0097] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-10 It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0098] The embodiments of the present invention are described in further detail below with reference to the accompanying drawings.

[0099] An embodiment of the present application discloses a drainage pipe detection method. During the operation of the pipe detection equipment, the relative relationship between the pipe detection equipment and the signal sending equipment can be determined, so that when the pipe detection equipment slips, the signal sending equipment can promptly correct its own position to determine the position of the pipe detection equipment in the pipe, so that when the pipe detection equipment detects internal defects in the pipe, the defect location can be marked more accurately.

[0100] Reference Figure 1 The method flow of the drainage pipe detection method includes the following steps:

[0101] Step S100: Acquire soil layer wall thickness information and pipeline height information.

[0102] The value corresponding to the soil wall thickness information is the thickness of the soil layer between the top and bottom of the drainage pipe. The value corresponding to the pipe height information is the height of the pipe in the vertical direction. Figure 2 It can be obtained through the design drawings when the pipeline is placed, or it can be obtained by the staff through measuring with a tape measure before the operation. The specific method is determined by the staff according to the actual situation and will not be elaborated here.

[0103] Step S101: Calculate the soil layer duration information based on the soil layer wall thickness information and the preset soil layer propagation speed, and calculate the pipeline duration information based on the pipeline height information and the preset pipeline propagation speed.

[0104] The soil layer propagation velocity is the propagation velocity of a wave signal of a fixed frequency in the soil layer medium. The duration value corresponding to the soil layer duration information is the minimum propagation time for the wave signal on the ground to be transmitted to the drainage pipe, which can be determined by dividing the value corresponding to the soil layer wall thickness information by the soil layer propagation velocity; the pipe propagation velocity is the propagation velocity of a wave signal of a fixed frequency in the air medium. The duration value corresponding to the pipe duration information is the minimum propagation time required for the wave signal propagated above the pipe to be transmitted to the bottom of the pipe, which can be determined by dividing the height value corresponding to the pipe height information by the pipe propagation velocity.

[0105] Step S102: performing a sum calculation based on the soil layer duration information and the pipeline duration information to determine the standard duration information.

[0106] The duration value corresponding to the standard duration information is the time required for the pipeline on the ground to transmit in the direction directly downward to the bottom of the pipeline, which is determined by adding the duration value corresponding to the soil layer duration information to the duration value corresponding to the pipeline duration information.

[0107] Step S103: Control a signal sending device preset on the ground and directly above the pipeline detection equipment to output a positioning signal and start timing, and stop timing when the pipeline detection equipment receives the positioning signal to output transmission time information.

[0108] The signal sending device is a device that is set on the ground and can move on the ground and can output a fixed frequency positioning signal. The signal transmitter can be installed on a trolley to form a pipeline detection device. The pipeline detection device is a pipeline detection trolley, on which a device for receiving positioning signals is installed. Under normal circumstances, the signal sending device is directly above the pipeline detection device. Figure 2 The duration value corresponding to the propagation duration information is the time from when the positioning device outputs the signal from the signal sending device to when it is received by the pipeline detection device, which can be determined by timing.

[0109] Step S104: Calculate the difference between the standard duration information and the propagation duration information to determine the difference duration information.

[0110] The duration value corresponding to the difference duration information is the difference between the time required for the positioning signal to be transmitted to the pipeline detection equipment under theoretical circumstances and the time required under actual circumstances. It can be determined by subtracting the duration value corresponding to the propagation duration information from the duration value corresponding to the standard duration information.

[0111] Step S105: Determine whether the value corresponding to the difference duration information is less than a preset upper limit duration value.

[0112] The upper limit duration value is the maximum difference in signal propagation duration set by the staff to determine that the pipeline detection device and the signal sending device are aligned. The purpose of the judgment is to know whether the pipeline detection device and the signal sending device are currently aligned.

[0113] Step S1051: If the value corresponding to the difference duration information is less than the upper limit duration value, an alignment signal is output and the sending position information of the signal sending device is obtained, and the detection position information is determined based on the sending position information. After the detection position information is determined, the pipeline detection device and the signal sending device are controlled to move a preset fixed distance in a preset fixed direction, and a positioning signal is output again after the movement is completed.

[0114] When the value corresponding to the difference duration information is less than the upper limit duration value, it means that the two are aligned. At this time, an alignment signal is output to identify and record this situation; the position corresponding to the sent position information is the position of the signal sending device. Since the pipeline detection device is aligned with the signal sending device, the position of the pipeline detection device in the pipeline can be determined according to the sent position information, thereby determining the detection position information to achieve accurate determination of the position of the pipeline detection device, so that when the pipeline detection device detects a defect, it can more accurately determine the position of the defect; the fixed direction is the direction in which the pipeline detection device detects the pipeline in the pipeline, and the fixed distance is a fixed value set by the staff. After controlling the pipeline detection device and the signal sending device to move in a fixed direction and a fixed distance, it is necessary to output a positioning signal again to determine the alignment of the two, so that the alignment can be determined once after moving a certain distance, thereby facilitating the determination of the position of the pipeline detection device.

[0115] Step S1052: If the value corresponding to the difference duration information is not less than the upper limit duration value, the position of the signal sending device is corrected according to the propagation duration information until an alignment signal is output.

[0116] When the value corresponding to the difference duration information is not less than the upper limit duration value, it means that the movement deviation between the pipeline detection equipment and the signal sending equipment is large at this time, and since the movement of the signal sending equipment on the ground can be monitored by the staff, there is a possibility that the pipeline detection equipment slips in the pipeline or foreign objects bump, causing the distance to change. At this time, the position of the signal sending equipment needs to be corrected to output an alignment signal so that the two devices can be adjusted in time until they are aligned after the offset occurs; the theoretical deviation distance value can be obtained according to the duration corresponding to the transmission duration information. At this time, the signal sending equipment can be adjusted according to the theoretical deviation value, where the theoretical deviation distance value is calculated and obtained by the relationship between the distance and the speed, which will not be elaborated.

[0117] Reference Figure 3 , the methods for determining soil layer thickness information include:

[0118] Step S200: Obtaining the designed wall thickness information of the soil layer.

[0119] The value corresponding to the design wall thickness information is the wall thickness value that needs to be maintained for the soil layer designated on the drawing when constructing the drainage pipe, which can be obtained by reading the value at the time of construction.

[0120] Step S201: Control the pipeline inspection equipment to be lowered along a preset vertical direction at the wellhead and obtain lowering distance information in real time.

[0121] The vertical direction refers to the vertical direction in the spatial sense. The pipeline detection equipment needs to be placed from the wellhead into the well to move into the pipeline. The distance corresponding to the lowering distance information is the distance value of the pipeline detection equipment placed downward from the ground. It can be determined by the operating distance of the equipment where the pipeline detection equipment is placed. For example, if a rope is lowered, it can be determined by the lowering length of the rope. The specific method is set by the staff according to the actual situation and will not be elaborated on.

[0122] Step S202: Calculate the difference between the designed wall thickness information and the lowering distance information to determine the difference distance information.

[0123] The distance value corresponding to the difference distance information is the difference between the lowering distance of the current pipeline detection equipment and the wall thickness in the drawing. The calculation method is to subtract the value corresponding to the lowering distance information from the value corresponding to the design wall thickness information.

[0124] Step S203: determining whether the distance value corresponding to the difference distance information is less than a preset lower limit distance value.

[0125] The lower limit distance value is the maximum difference between the lowering distance when the pipeline inspection equipment is relatively close to the pipeline during the lowering process and the wall thickness on the drawing, set by the staff. The purpose of the judgment is to know whether the current pipeline inspection equipment is about to approach the intersection of the pipeline and the soil layer.

[0126] Step S2031: If the distance value corresponding to the difference distance information is not less than the lower limit distance value, the pipeline inspection equipment is maintained and continued to be lowered.

[0127] When the distance value corresponding to the difference distance information is not less than the lower limit distance value, it means that the pipeline detection equipment has not yet approached the intersection of the pipeline and the soil layer, and the pipeline detection equipment can be continued to be lowered.

[0128] Step S2032: If the distance value corresponding to the difference distance information is less than the lower limit distance value, the distance measuring device preset on the pipeline detection equipment is controlled to operate to obtain the lateral distance information in real time.

[0129] When the distance value corresponding to the difference distance information is less than the lower limit distance value, it means that the pipeline detection equipment is about to reach the intersection of the pipeline and the soil layer. At this time, the actual intersection position needs to be determined; the distance measuring device is a device with a distance measuring function, such as a distance measuring sensor. The device is installed on the pipeline detection equipment and is set in a fixed direction. The distance value corresponding to the lateral distance information is the distance between the obstacle in the fixed direction and the distance measuring device.

[0130] Step S204: Calculate the difference between the lateral distance information before and after the preset unit time to determine the changed distance information, and determine the lowered distance information as the soil layer wall thickness information when the distance value corresponding to the changed distance information is greater than a preset reasonable value.

[0131] The unit time is the value update time when the ranging equipment performs distance detection, that is, the acquisition interval between two values. The distance value corresponding to the changed distance information is the change value of the obstacle distance value detected within the unit time. The reasonable value is the maximum value set by the staff when the obstacle distance value does not change significantly. When the distance value corresponding to the changed distance information is greater than the reasonable value, it means that the ranging equipment has moved from detecting the side wall of the wellhead to detecting the other direction of the pipeline, that is, the pipeline passes through the intersection of the soil layer and the pipeline. At this time, the lowered distance information is determined as the soil wall thickness information to achieve more accurate acquisition of the soil wall thickness information.

[0132] Reference Figure 4 When the distance value corresponding to the change distance information is greater than a reasonable value, the method for determining the soil layer wall thickness information further includes:

[0133] Step S300: Control the pipeline inspection equipment to continue lowering and control the countdown of the preset lowering time.

[0134] The lowering time is a fixed value set by the staff to control the lowering of the pipeline detection equipment and time it to facilitate further analysis of the soil conditions.

[0135] Step S301: determining whether the distance value corresponding to the change distance information is not greater than a reasonable value before the lowering timer is reset to zero.

[0136] The purpose of the judgment is to find out whether the current situation where the value is greater than the reasonable value is caused by a deeper depression on the side wall of the wellhead.

[0137] Step S3011: If the distance value corresponding to the change distance information is not less than the reasonable value before the lowering timer is reset to zero, the lowering distance information when the distance value corresponding to the change distance information is greater than the reasonable value for the first time is determined as the soil layer wall thickness information.

[0138] When the distance value corresponding to the changed distance information is not greater than the reasonable value before the lowering time counter returns to zero, it means that the current detected value greater than the reasonable value cannot be a deep depression on the side wall of the wellhead. That is, the pipeline detection equipment is moving through the intersection of the soil layer and the pipeline. At this time, the soil layer wall thickness information can be determined normally.

[0139] Step S3012: If the distance value corresponding to the changed distance information is not greater than the reasonable value before the lowering timer returns to zero, the current lowering distance information is defined as abnormal distance information, and it is determined whether the distance value corresponding to the abnormal distance information is greater than the value corresponding to the design wall thickness information.

[0140] When the distance value corresponding to the changed distance information is not greater than the reasonable value before the lowering time counter returns to zero, it indicates that there is a deep depression on the side wall of the wellhead and an abnormal judgment occurs. At this time, the current lowering distance information is defined as abnormal distance information for identification, so as to distinguish different lowering distance information. The purpose of the judgment is to know whether the current point of intersection of the soil layer and the pipeline has been clearly passed.

[0141] Step S30121: If the distance value corresponding to the abnormal distance information is not greater than the value corresponding to the designed wall thickness information, then the pipeline inspection equipment is continued to be lowered to re-determine the soil layer wall thickness information.

[0142] When the distance value corresponding to the abnormal distance information is not greater than the value corresponding to the design wall thickness information, it means that the intersection of the pipeline and the soil layer may not be passed at present. At this time, the situation where the distance value is greater than the reasonable value is probably caused by a deep depression on the side wall of the wellhead. At this time, the pipeline equipment can be lowered further to determine the soil wall thickness information.

[0143] Step S30122: If the distance value corresponding to the abnormal distance information is greater than the value corresponding to the design wall thickness information, the lowering distance information when the distance value corresponding to the last change distance information is greater than the reasonable value is determined as the soil layer wall thickness information.

[0144] When the distance value corresponding to the abnormal distance information is greater than the value corresponding to the design wall thickness information, it means that the current pipeline inspection equipment has obviously passed the intersection of the pipeline and the soil layer. The change in the obstacle distance value at this time may be caused by vertical garbage inside the pipeline. That is, the last time the value was greater than the reasonable value was when the pipeline inspection equipment was at the intersection of the soil layer and the pipeline. At this time, the lowering distance information at that time is determined as the soil layer wall thickness information to achieve accurate determination of the soil layer wall thickness information.

[0145] Reference Figure 5 , the method for determining the pipeline height information includes:

[0146] Step S400: After the soil layer thickness information is determined, image information of the pipeline below the pipeline detection equipment is obtained.

[0147] The image corresponding to the pipeline image information is an image of the pipeline directly below the pipeline detection equipment during the lowering process of the pipeline detection equipment. It can be obtained by an instrument installed on the pipeline detection equipment for capturing pipeline detection images. The instrument can automatically adjust its direction on the pipeline detection equipment.

[0148] Step S401: determining whether there is a preset foreign body feature in the image corresponding to the pipeline image information.

[0149] Foreign object characteristics are set by the staff to be foreign objects that may affect the process of lowering the pipeline inspection equipment into the pipeline, such as cans, towels, etc. that may exist in the drainage pipe. They are input in advance by the staff. The purpose of the judgment is to know whether the pipeline inspection equipment will be lowered onto foreign objects in the pipeline during the lowering process to affect the lowering distance.

[0150] Step S4011: If there are foreign body features in the image corresponding to the pipeline image information, the pipeline detection device is controlled to translate along a fixed direction by a preset avoidance distance until there are no foreign body features in the collected image.

[0151] When foreign matter features exist in the image corresponding to the pipeline image information, it indicates that lowering the pipeline inspection equipment at the current position is likely to affect the lowering distance detection. At this time, the inspection equipment is controlled to translate along a fixed direction to avoid the foreign matter, and re-detection is performed until no foreign matter exists in the image, so as to effectively avoid the foreign matter and facilitate the lowering of the pipeline inspection equipment. The avoidance distance is a fixed value set by the staff according to actual needs.

[0152] Step S4012: If there is no foreign object feature in the image corresponding to the pipeline image information, tire pressure information is obtained, and pressure change information is determined by calculation based on the tire pressure information before and after the unit time length.

[0153] When there is no foreign object feature in the image corresponding to the pipeline image information, it means that there is no foreign object under the pipeline detection equipment that can affect the lowering distance; the pressure value corresponding to the tire pressure information is the pressure change value of the tire, which can be determined by installing a pressure sensor inside the tire of the pipeline detection equipment. The value corresponding to the pressure change information is the change value of the tire pressure within a unit time length, which can be obtained by calculating the difference between the values ​​corresponding to the two tire pressure information and finding the absolute value.

[0154] Step S402: When the value corresponding to the pressure change information is greater than a preset mutation value, the difference between the lowering distance information and the soil layer wall thickness information is calculated to determine the pipeline height information.

[0155] The mutation value is the minimum pressure change set by the staff to determine when the tire touches the ground. When the value corresponding to the pressure change information is greater than the mutation value, it means that the pipeline inspection equipment has moved to the bottom of the pipeline. At this time, the pipeline height information can be accurately determined by subtracting the thickness value corresponding to the soil wall thickness information from the distance value corresponding to the lowering distance information.

[0156] Reference Figure 6 , the method for correcting the position of the signal sending device includes:

[0157] Step S500: Control the signal sending device to move a preset unit distance along a fixed direction, and send a positioning signal after the movement to determine new propagation duration information.

[0158] The unit distance is a fixed value set by the staff, which controls the signal sending device to move in a fixed direction and resend the positioning signal to re-determine the corresponding propagation time information.

[0159] Step S501: Determine whether the duration corresponding to the transmission duration information is reduced.

[0160] The purpose of the judgment is to know whether the signal sending device is close to the position directly above the pipeline detection device.

[0161] Step S5011: If the duration corresponding to the transmission duration information decreases, the signal sending device is controlled to continue moving along a fixed direction until an alignment signal is output.

[0162] When the duration corresponding to the transmission duration information decreases, it indicates that the signal sending device is approaching the position directly above the pipeline detection device. At this time, the signal sending device can be controlled to continue moving in a fixed direction to achieve alignment between the two.

[0163] Step S5012: If the duration corresponding to the transmission duration information has not decreased, the signal sending device is controlled to move in the opposite direction of the fixed direction until an alignment signal is output.

[0164] When the duration corresponding to the transmission duration information does not decrease, it means that the signal sending device is not close to the position directly above the pipeline detection device, that is, the signal sending device moves in the opposite direction. At this time, the signal sending device can be controlled to move in the opposite direction to achieve alignment between the two.

[0165] Reference Figure 7 , the movement method of the signal sending device when correcting the position includes:

[0166] Step S600: Acquire current displacement distance information.

[0167] The value corresponding to the current displacement distance information is the displacement offset of the current position of the signal sending device compared to the position when the signal sending device needs to be corrected. Figure 8 .

[0168] Step S601: Calculate and determine the tilt angle information based on the propagation time information, pipeline height information, soil layer wall thickness information, soil layer propagation speed, and pipeline propagation speed.

[0169] The angle corresponding to the tilt angle information is the deviation angle of the pipeline detection equipment compared to the signal sending equipment under theoretical conditions. The calculation formula is as follows: Where T is the duration corresponding to the propagation time information, h1 is the thickness value corresponding to the soil layer wall thickness information, h2 is the height value corresponding to the pipeline height information, v1 is the soil layer propagation velocity, v2 is the pipeline propagation velocity, and θ is the angle value corresponding to the tilt angle information.

[0170] Step S602: Determine deviation distance information based on pipeline height information, soil layer wall thickness information, and tilt angle information.

[0171] The distance value corresponding to the deviation distance information is the deviation distance value between the pipeline detection equipment and the signal sending equipment on the horizontal line under theoretical conditions. The calculation formula is L = (h1 + h2) tanθ, where L is the distance value corresponding to the deviation distance information.

[0172] Step S603: performing a difference calculation based on the deviation distance information and the current displacement distance information to determine the remaining distance information.

[0173] The distance value corresponding to the remaining distance information is the deviation value from the position that the signal sending device theoretically needs to move during the position correction movement process, and is determined by subtracting the distance value corresponding to the current displacement distance information from the distance value corresponding to the deviation distance information.

[0174] Step S604: Determine whether the distance corresponding to the remaining distance information is less than a preset adjustment value.

[0175] The adjustment value is the maximum distance set by the staff that the signal sending device needs to move when the pipeline detection device and the signal sending device are likely to be aligned. The purpose of the judgment is to know whether the signal sending device has entered the area where alignment is possible, so as to facilitate the subsequent movement control of the signal sending device.

[0176] Step S6041: If the distance corresponding to the remaining distance information is not less than the adjustment value, the signal sending device is controlled to continue moving along the original direction.

[0177] When the distance corresponding to the remaining distance information is not less than the adjustment value, it indicates that the current signal sending device has not yet moved to the area where alignment may occur. In this case, the signal sending device can be controlled to move normally in the original direction.

[0178] Step S6042: If the distance corresponding to the remaining distance information is less than the adjustment value, the signal sending device is controlled to send a positioning signal every time it moves a unit distance along the original direction until an alignment signal is output to control the signal sending device to stop moving.

[0179] When the distance corresponding to the remaining distance information is less than the adjustment value, it means that the signal sending device has entered the area where alignment is possible. At this time, the signal sending device is controlled to perform alignment detection in sequence every time it moves a unit distance until the signal sending device and the pipeline detection device are aligned, thereby achieving effective correction of the position of the signal sending device.

[0180] Reference Figure 9 , the method of moving the pipeline inspection equipment along a fixed direction includes:

[0181] Step S700: Acquire detection image information.

[0182] The image corresponding to the detection image information is an image obtained by detecting the inside of the pipeline while the pipeline detection device moves along a fixed direction.

[0183] Step S701: Determine whether a preset defect feature exists in the image corresponding to the detected image information.

[0184] Defect features are images of possible defects in the pipeline set by the staff, including cracks, etc. The purpose of judgment is to know whether there are defects in the pipeline.

[0185] Step S7011: If there is no defect feature in the image corresponding to the detection image information, the pipeline detection device is controlled to move along a fixed direction until the moving distance reaches a fixed distance.

[0186] When there is no defect feature in the image corresponding to the detection image information, it means that no defect is detected at the position of the pipeline detection device in the pipeline. At this time, the pipeline detection device can be controlled to continue moving along a fixed direction for detection.

[0187] Step S7012: If defect features exist in the image corresponding to the detected image information, the pipeline detection device and the signal sending device are controlled to stop moving, and the signal sending device is controlled to output a positioning signal to determine whether to output an alignment signal.

[0188] When defect features exist in the image corresponding to the detected image information, it indicates that there is a pipeline defect at the current location of the pipeline inspection device. At this time, the pipeline inspection device is controlled to stop operating, and the signal sending device is controlled to output a positioning signal to determine whether the two are aligned. The purpose of the judgment is to determine whether the current position of the pipeline inspection device is accurate.

[0189] Step S70121: If an alignment signal is output, the defect position is defined according to the detection position information, and after the defect position is determined, the pipeline detection device and the signal sending device are re-controlled to move a fixed distance along a fixed direction.

[0190] When the alignment signal is output, it indicates that the current signal sending device is aligned with the pipeline inspection device. At this time, the detection position information determined by the signal sending device is relatively accurate, so the position corresponding to the detection position information is defined as the defect position to locate the position of the defect inside the pipeline. At the same time, the pipeline inspection device and the signal sending device are re-controlled to move in a fixed direction to continue to detect the defect.

[0191] Step S70122: If the alignment signal is not output, the pipeline detection device is controlled not to move, and the signal sending device is controlled to perform position correction.

[0192] When no alignment signal is output, it indicates that the signal sending device and the pipeline detection device are not aligned. At this time, the position of the pipeline detection device cannot be determined by the position of the signal sending device, thereby controlling the signal sending device to perform position correction.

[0193] Reference Figure 10 Based on the same inventive concept, an embodiment of the present invention provides a drainage pipe detection system, comprising:

[0194] Acquisition module, used to obtain soil wall thickness information and pipeline height information;

[0195] A processing module, connected to the acquisition module and the judgment module, for storing and processing information;

[0196] The judgment module is connected with the acquisition module and the processing module and is used for judging the information;

[0197] The processing module calculates the soil layer duration information based on the soil layer wall thickness information and the preset soil layer propagation speed, and calculates the pipeline duration information based on the pipeline height information and the preset pipeline propagation speed;

[0198] The processing module performs sum calculation based on the soil layer duration information and the pipeline duration information to determine the standard duration information;

[0199] The processing module controls the signal sending device preset on the ground and directly above the pipeline detection equipment to output the positioning signal and start timing, and stops timing when the pipeline detection equipment receives the positioning signal to output the transmission time information;

[0200] The processing module calculates the difference between the standard duration information and the propagation duration information to determine the difference duration information;

[0201] The judgment module judges whether the value corresponding to the difference duration information is less than the preset upper limit duration value;

[0202] If the determination module determines that the value corresponding to the difference duration information is less than the upper limit duration value, the processing module outputs an alignment signal and obtains the transmission position information of the signal transmitting device, and determines the detection position information based on the transmission position information. After the detection position information is determined, the processing module controls the pipeline detection device and the signal transmitting device to move a preset fixed distance in a preset fixed direction, and outputs a positioning signal again after the movement is completed.

[0203] If the determination module determines that the value corresponding to the difference duration information is not less than the upper limit duration value, the processing module corrects the position of the signal sending device according to the propagation duration information until an alignment signal is output;

[0204] Soil layer wall thickness determination module, which determines the soil layer wall thickness based on the lowering of pipeline inspection equipment;

[0205] The false detection elimination module eliminates the situation where the soil wall thickness is determined due to defects in the side wall of the well, thereby improving the accuracy of the soil wall thickness determination;

[0206] The pipeline height determination module determines the pipeline height based on the lowering of the pipeline detection equipment;

[0207] A correction direction determination module is used to determine the direction of the signal sending device when performing position correction;

[0208] Correction movement control module, used to control the signal sending device to correct the position;

[0209] The defect determination and movement module is used to determine the detection situation of the pipeline detection equipment during its movement, so as to control the movement of the equipment in different situations according to the different defect acquisition situations.

[0210] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0211] 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 drainage pipe detection method.

[0212] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0213] 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 a drainage pipe detection method.

[0214] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0215] The above are all preferred embodiments of the present application and are not intended to limit the scope of protection of this application. Unless otherwise stated, any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features. In other words, unless otherwise stated, each feature is merely an example of a series of equivalent or similar features.

Claims

1. A drainage pipe detection method, characterized in that: include: Obtain soil wall thickness information and pipeline height information; Calculate the soil layer duration information based on the soil layer wall thickness information and the preset soil layer propagation speed, and calculate the pipeline duration information based on the pipeline height information and the preset pipeline propagation speed; The standard time information is determined by summing the soil layer time information and the pipeline time information; Controlling a signal sending device preset on the ground and directly above the pipeline detection equipment to output a positioning signal and start timing, and stopping timing when the pipeline detection equipment receives the positioning signal to output transmission duration information; Calculate the difference between the standard duration information and the propagation duration information to determine the difference duration information; Determine whether the value corresponding to the difference duration information is less than the preset upper limit duration value; If the value corresponding to the difference duration information is less than the upper limit duration value, an alignment signal is output and the sending position information of the signal sending device is obtained. The detection position information is determined based on the sending position information. After the detection position information is determined, the pipeline detection device and the signal sending device are controlled to move a preset fixed distance in a preset fixed direction, and a positioning signal is output again after the movement is completed. If the value corresponding to the difference duration information is not less than the upper limit duration value, the position of the signal sending device is corrected according to the propagation duration information until the alignment signal is output; Methods for determining soil wall thickness information include: Obtain the design wall thickness information of the soil layer; Control the pipeline inspection equipment to be lowered along the preset vertical direction at the wellhead and obtain the lowering distance information in real time; Calculating the difference between the design wall thickness information and the lowering distance information to determine the difference distance information; Determine whether the distance value corresponding to the difference distance information is less than a preset lower limit distance value; If the distance value corresponding to the difference distance information is not less than the lower limit distance value, the pipeline detection equipment is maintained and continued to be lowered; If the distance value corresponding to the difference distance information is less than the lower limit distance value, the distance measuring device preset on the pipeline detection equipment is controlled to obtain the side distance information in real time; The difference between the lateral distance information before and after the preset unit time is calculated to determine the changed distance information, and when the distance value corresponding to the changed distance information is greater than the preset reasonable value, the lowered distance information is determined as the soil layer wall thickness information.

2. The drainage pipe detection method according to claim 1, characterized in that: When the distance value corresponding to the changed distance information is greater than a reasonable value, the method for determining the soil layer wall thickness information further includes: Control the pipeline inspection equipment to continue lowering and control the countdown of the preset lowering time; Determine whether the distance value corresponding to the changed distance information is not greater than a reasonable value before the lowering timer is reset to zero; If the distance value corresponding to the change distance information does not appear to be less than the reasonable value before the lowering timer returns to zero, the lowering distance information when the distance value corresponding to the change distance information first appears to be greater than the reasonable value is determined as the soil layer wall thickness information; If the distance value corresponding to the changed distance information is not greater than the reasonable value before the lowering timer returns to zero, the current lowering distance information is defined as abnormal distance information, and it is determined whether the distance value corresponding to the abnormal distance information is greater than the value corresponding to the design wall thickness information; If the distance value corresponding to the abnormal distance information is not greater than the value corresponding to the design wall thickness information, continue to lower the pipeline inspection equipment to re-determine the soil wall thickness information; If the distance value corresponding to the abnormal distance information is greater than the value corresponding to the design wall thickness information, the lowering distance information when the distance value corresponding to the last change distance information is greater than the reasonable value is determined as the soil layer wall thickness information.

3. The drainage pipe detection method according to claim 1, characterized in that: Methods for determining pipeline height information include: After the soil layer thickness information is determined, the pipeline image information below the pipeline detection equipment is obtained; Determine whether there is a preset foreign body feature in the image corresponding to the pipeline image information; If there are foreign body features in the image corresponding to the pipeline image information, the pipeline inspection device is controlled to translate along a fixed direction by a preset avoidance distance until no foreign body features are found in the collected image; If there is no foreign object feature in the image corresponding to the pipeline image information, tire pressure information is obtained, and pressure change information is determined based on the tire pressure information before and after the unit time length; When the value corresponding to the pressure change information is greater than the preset mutation value, the difference between the lowering distance information and the soil layer wall thickness information is calculated to determine the pipeline height information.

4. The drainage pipe detection method according to claim 1, characterized in that: Methods for correcting the location of the signal transmitting device include: Controlling the signal sending device to move a preset unit distance in a fixed direction, and sending a positioning signal after the movement to determine new propagation duration information; Determine whether the duration corresponding to the transmission duration information is reduced; If the duration corresponding to the transmission duration information decreases, the control signal sending device continues to move in the fixed direction until the alignment signal is output; If the duration corresponding to the transmission duration information is not reduced, the signal sending device is controlled to move in the opposite direction of the fixed direction until an alignment signal is output.

5. The drainage pipe detection method according to claim 4, characterized in that: The movement method for correcting the position of the signal sending device includes: Get the current displacement distance information; The tilt angle information is determined by calculation based on the propagation time information, pipeline height information, soil wall thickness information, soil propagation velocity and pipeline propagation velocity; Determine the deviation distance information based on the pipeline height information, soil layer wall thickness information and tilt angle information; Calculate the difference between the deviation distance information and the current displacement distance information to determine the remaining distance information; Determine whether the distance corresponding to the remaining distance information is less than a preset adjustment value; If the distance corresponding to the remaining distance information is not less than the adjustment value, the control signal sending device continues to move along the original direction; If the distance corresponding to the remaining distance information is less than the adjustment value, the signal sending device is controlled to send a positioning signal every time it moves a unit distance along the original direction until an alignment signal is output to control the signal sending device to stop moving.

6. The drainage pipe detection method according to claim 1, characterized in that: Methods for moving pipeline inspection equipment in a fixed direction include: Obtain detection image information; Determine whether there is a preset defect feature in the image corresponding to the detection image information; If there is no defect feature in the image corresponding to the detection image information, the pipeline detection device is controlled to move in a fixed direction until the moving distance reaches a fixed distance; If there are defect features in the image corresponding to the detected image information, the pipeline detection device and the signal sending device are controlled to stop moving, and the signal sending device is controlled to output a positioning signal to determine whether to output an alignment signal; If an alignment signal is output, the defect position is defined according to the detection position information, and after the defect position is determined, the pipeline detection equipment and the signal sending equipment are re-controlled to move a fixed distance in a fixed direction; If the alignment signal is not output, the pipeline detection device is controlled not to move, and the signal sending device is controlled to perform position correction.

7. A drainage pipe detection system, characterized in that: include: Acquisition module, used to obtain soil wall thickness information and pipeline height information; A processing module, connected to the acquisition module and the judgment module, for storing and processing information; The judgment module is connected with the acquisition module and the processing module and is used for judging the information; The processing module calculates the soil layer duration information based on the soil layer wall thickness information and the preset soil layer propagation speed, and calculates the pipeline duration information based on the pipeline height information and the preset pipeline propagation speed; The processing module performs sum calculation based on the soil layer duration information and the pipeline duration information to determine the standard duration information; The processing module controls the signal sending device preset on the ground and directly above the pipeline detection equipment to output the positioning signal and start timing, and stops timing when the pipeline detection equipment receives the positioning signal to output the transmission time information; The processing module calculates the difference between the standard duration information and the propagation duration information to determine the difference duration information; The judgment module judges whether the value corresponding to the difference duration information is less than the preset upper limit duration value; If the determination module determines that the value corresponding to the difference duration information is less than the upper limit duration value, the processing module outputs an alignment signal and obtains the transmission position information of the signal transmitting device, and determines the detection position information based on the transmission position information. After the detection position information is determined, the processing module controls the pipeline detection device and the signal transmitting device to move a preset fixed distance in a preset fixed direction, and outputs a positioning signal again after the movement is completed. If the determination module determines that the value corresponding to the difference duration information is not less than the upper limit duration value, the processing module corrects the position of the signal sending device according to the propagation duration information until an alignment signal is output; Methods for determining soil wall thickness information include: Obtain the design wall thickness information of the soil layer; Control the pipeline inspection equipment to be lowered along the preset vertical direction at the wellhead and obtain the lowering distance information in real time; Calculating the difference between the design wall thickness information and the lowering distance information to determine the difference distance information; Determine whether the distance value corresponding to the difference distance information is less than a preset lower limit distance value; If the distance value corresponding to the difference distance information is not less than the lower limit distance value, the pipeline detection equipment is maintained and continued to be lowered; If the distance value corresponding to the difference distance information is less than the lower limit distance value, the distance measuring device preset on the pipeline detection equipment is controlled to obtain the side distance information in real time; The difference between the lateral distance information before and after the preset unit time is calculated to determine the changed distance information, and when the distance value corresponding to the changed distance information is greater than the preset reasonable value, the lowered distance information is determined as the soil layer wall thickness information.

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 the method according to any one 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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