A method, apparatus, electronic device and storage medium for positioning a pipe cleaner.

Abstract

This application relates to the field of oil and gas pipeline cleaning technology, and provides a pipeline cleaner positioning method, device, electronic equipment, and storage medium. The method involves applying a first detection signal to the pipeline, acquiring multiple first feedback data sets, and performing energy attenuation calculations on each set to obtain a first attenuation rate value. Each first attenuation rate value is compared with a first preset attenuation rate threshold. The first attenuation rate value less than the first preset attenuation rate threshold is determined as a first target attenuation rate value. A first target position and a second target position are determined based on the maximum and minimum values ​​among all the first target attenuation rate values. The pipeline cleaner is then positioned based on the first and second target positions. Determining the first and second target positions through energy attenuation calculations to locate the pipeline cleaner reduces the consumption of time, manpower, and resources, and improves the efficiency of locating the pipeline cleaner.

Description

Technical Field

[0001] This application relates to the field of oil and gas pipeline cleaning, and in particular to a pipeline cleaner positioning method, device, electronic equipment and storage medium. Background Technology

[0002] After prolonged use, oil and gas pipelines gradually accumulate dirt, condensate, and other impurities inside. This reduces the efficiency of medium transportation, affects the purity of the medium, easily increases energy consumption and costs, and makes the inner wall of the pipeline more susceptible to corrosion. Therefore, regular cleaning of oil and gas pipelines becomes extremely important.

[0003] Currently, most routine cleaning of oil and gas pipelines uses various pipeline cleaners. However, impurities and foreign objects left in the pipeline can cause the pipeline cleaners to malfunction and block the pipeline. When a pipeline cleaner malfunctions in the pipeline, it is necessary to remove the obstruction promptly. Since the specific location of the pipeline cleaner inside the pipeline is not visible, it requires a significant amount of time, manpower, and resources to locate the pipeline cleaner. Summary of the Invention

[0004] The main objective of this application is to provide a method, apparatus, electronic device, and storage medium for locating a pipe cleaner, aiming to improve the efficiency of locating the pipe cleaner.

[0005] To achieve the above objectives, a first aspect of this application provides a method for positioning a pipe cleaner, the method comprising the following steps:

[0006] A first detection signal is applied to the pipeline to acquire multiple sets of first feedback data.

[0007] Energy attenuation is calculated for each of the first feedback data groups to obtain the first attenuation rate value corresponding to each of the first feedback data groups.

[0008] Each of the first attenuation rate values ​​is compared with a first preset attenuation rate threshold. When the first attenuation rate value is less than the first preset attenuation rate threshold, the first attenuation rate value is determined as the first target attenuation rate value.

[0009] For all the first target attenuation rate values, the first target position is determined based on the largest first target attenuation rate value among the first target attenuation rate values, and the second target position is determined based on the smallest first target attenuation rate value among the first target attenuation rate values.

[0010] The pipe cleaner is located based on the first target location and the second target location.

[0011] In some possible embodiments of this application, the step of performing energy attenuation calculation on each of the first feedback data groups to obtain a first attenuation rate value includes:

[0012] Energy calculation is performed on each of the first feedback data groups according to the first preset feedback data group sorting, to obtain the first detection energy value corresponding to each first feedback data group;

[0013] Based on the sorting of the first preset feedback data group, the attenuation rate is calculated for each first detection energy value and the corresponding previous first detection energy value to obtain the first attenuation rate value corresponding to each first feedback data group.

[0014] In some possible embodiments of this application, the first feedback data set includes vibration acceleration in the X orthogonal direction, vibration acceleration in the Y orthogonal direction, and vibration acceleration in the Z orthogonal direction;

[0015] The first feedback data set is used to perform energy calculations to obtain the first detection energy value, which is achieved through the following formula:

[0016]

[0017] Wherein, A is the first detection energy value;

[0018] The A X The vibration acceleration is in the X-orthogonal direction;

[0019] The A Y The vibration acceleration is in the orthogonal Y direction;

[0020] The A Z The vibration acceleration is in the Z-orthogonal direction.

[0021] In some possible embodiments of this application, the pipeline is provided with a plurality of first preset pipeline positions, and each first feedback data group corresponds to one of all the first preset pipeline positions;

[0022] The step of determining the first target location based on the largest first target attenuation rate value among all the first target attenuation rate values, and determining the second target location based on the smallest first target attenuation rate value among all the first target attenuation rate values, includes:

[0023] For the maximum first target attenuation rate value, the previous first preset pipe position corresponding to the maximum first target attenuation rate value is determined as the first target position according to the sorting of the first preset feedback data group, wherein the first target position corresponds to the previous first attenuation rate value of the maximum first target attenuation rate value.

[0024] For the minimum first target attenuation rate value, the first preset pipe position corresponding to the minimum first target attenuation rate value is determined as the second target position.

[0025] In some possible embodiments of this application, locating the pipe cleaner based on the first target location and the second target location includes:

[0026] A second detection signal is applied to the pipe segment between the first target position and the second target position to acquire multiple sets of second feedback data.

[0027] Energy attenuation is calculated for each of the second feedback data groups to obtain the second attenuation rate value corresponding to each of the second feedback data groups;

[0028] For all the second target attenuation rate values, the third target position is determined based on the largest second target attenuation rate value among the second target attenuation rate values, and the fourth target position is determined based on the smallest second target attenuation rate value among the second target attenuation rate values.

[0029] The pipe cleaner is located in the pipe section based on the third and fourth target locations.

[0030] In some possible embodiments of this application, before applying a first detection signal to the pipeline and acquiring multiple first feedback data sets, the method further includes:

[0031] Obtain multiple energy tag values ​​for the pipeline, wherein each energy tag value corresponds to one of all the first preset pipeline locations;

[0032] After performing energy calculations on each of the first feedback data groups according to the first preset feedback data group order to obtain the first detection energy value corresponding to each first feedback data group, the method further includes:

[0033] The attenuation rate of each first detection energy value and the corresponding energy tag value is calculated to obtain the first attenuation rate value corresponding to each first feedback data group.

[0034] The step of comparing each of the first attenuation rate values ​​with a first preset attenuation rate threshold, and determining the first attenuation rate value as the first target attenuation rate value when the first attenuation rate value is less than the first preset attenuation rate threshold, includes:

[0035] Obtain the first preset attenuation rate threshold corresponding to each of the first feedback data groups;

[0036] Each first attenuation rate value is compared with the first preset attenuation rate threshold corresponding to each first feedback data group to obtain the comparison result corresponding to each first feedback data group.

[0037] In some possible embodiments of this application, obtaining multiple energy tag values ​​of the pipeline includes:

[0038] A tag signal is applied to the pipes that are not placed in the pipe cleaner, and a tag feedback data group corresponding to each of the first preset pipe positions is obtained;

[0039] Energy calculations are performed on each of the tag feedback data groups to obtain the energy tag value corresponding to each of the first preset pipe positions.

[0040] To achieve the above objectives, a second aspect of this application provides a pipe cleaner positioning device, the device comprising:

[0041] The first feedback data group acquisition module is used to apply a first detection signal to the pipeline and acquire multiple first feedback data groups;

[0042] The first attenuation rate value acquisition module is used to perform energy attenuation calculation on each of the first feedback data groups to obtain the first attenuation rate value corresponding to each of the first feedback data groups.

[0043] The first target attenuation rate acquisition module is used to compare each of the first attenuation rate values ​​with a first preset attenuation rate threshold. When the first attenuation rate value is less than the first preset attenuation rate threshold, the first attenuation rate value is determined as the first target attenuation rate value.

[0044] The target location acquisition module is used to determine the first target location based on the largest first target attenuation rate value among all the first target attenuation rate values, and to determine the second target location based on the smallest first target attenuation rate value among all the first target attenuation rate values.

[0045] The positioning module is used to locate the pipe cleaner based on the first target position and the second target position.

[0046] To achieve the above objectives, a third aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect.

[0047] To achieve the above objectives, a fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect.

[0048] This application proposes a method, apparatus, electronic device, and storage medium for locating a pipeline cleaner. It applies a first detection signal to the pipeline to acquire multiple first feedback data sets. Energy attenuation is calculated for each first feedback data set to obtain a corresponding first attenuation rate value. Each first attenuation rate value is compared with a first preset attenuation rate threshold. If the first attenuation rate value is less than the first preset attenuation rate threshold, it is determined as a first target attenuation rate value. For all first target attenuation rate values, a first target position is determined based on the largest first target attenuation rate value, and a second target position is determined based on the smallest first target attenuation rate value. The pipeline cleaner is then located based on the first and second target positions. By calculating the energy attenuation of the applied first detection signal and detecting whether the energy attenuation of the first detection signal is abnormal, the first and second target positions with abnormal energy attenuation are determined. Locating the pipeline cleaner based on the first and second target positions reduces the consumption of time, manpower, and material resources, and improves the efficiency of locating the pipeline cleaner. Attached Figure Description

[0049] Figure 1 This is a schematic diagram illustrating the steps of a pipe cleaner positioning method provided in an embodiment of this application;

[0050] Figure 2 yes Figure 1 A schematic diagram of the sub-steps in step S102;

[0051] Figure 3 Is with Figure 2 The attenuation trend diagram corresponding to step S202;

[0052] Figure 4 yes Figure 1 A schematic diagram of the sub-steps in step S104;

[0053] Figure 5 yes Figure 1 A schematic diagram of the sub-steps in step S105;

[0054] Figure 6 This is a schematic diagram of the steps of another embodiment provided in this application;

[0055] Figure 7 yes Figure 6 A schematic diagram of the sub-steps in step S501;

[0056] Figure 8 This is a schematic diagram of the structure of a pipe cleaner positioning device provided in an embodiment of this application;

[0057] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0059] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0061] After prolonged use, oil and gas pipelines gradually accumulate dirt, condensate, and other impurities inside. This reduces the efficiency of medium transportation, affects the purity of the medium, easily increases energy consumption and costs, and makes the inner wall of the pipeline more susceptible to corrosion. Therefore, regular cleaning of oil and gas pipelines becomes extremely important.

[0062] Currently, most routine cleaning of oil and gas pipelines uses various pipeline cleaners. However, impurities and foreign objects left in the pipeline can cause the pipeline cleaners to malfunction and block the pipeline. When a pipeline cleaner malfunctions in the pipeline, it is necessary to remove the obstruction promptly. Since the specific location of the pipeline cleaner inside the pipeline is not visible, it requires a significant amount of time, manpower, and resources to locate the pipeline cleaner.

[0063] Based on this, embodiments of this application provide a method, apparatus, electronic device, and storage medium for locating a pipe cleaner, with the aim of locating the efficiency of the pipe cleaner.

[0064] The pipe cleaner positioning method, device, electronic equipment, and storage medium provided in this application are specifically described through the following embodiments. First, the pipe cleaner positioning method in this application embodiment is described.

[0065] This application provides a pipeline cleaner positioning method, relating to the field of oil and gas pipeline cleaning technology. The pipeline cleaner positioning method provided in this application can be applied to a terminal, a server, or software running on either a terminal or a server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, etc.; the server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application implementing a pipeline cleaner positioning method, but is not limited to the above forms.

[0066] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0067] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating the steps of a pipe cleaner positioning method provided in an embodiment of this application. Figure 1 The method may include, but is not limited to, steps S101 to S105.

[0068] Step S101: Apply a first detection signal to the pipeline and acquire multiple first feedback data sets.

[0069] It should be understood that the first detection signal here is diverse and exemplary, such as sound signal, vibration signal, etc. Those skilled in the art can apply a specific type of first detection signal according to actual needs, and this application does not limit it.

[0070] It should be understood that the application method here depends on the specific type of the first detection signal and is diverse and exemplary. For example, if the first detection signal is a sound signal, a sound signal is applied at the inlet of the pipe where the pipe cleaner is placed. Or if the first detection signal is a vibration signal, a vibration signal of a certain magnitude is applied at any position of the pipe being tested by means of direct vibration, etc. This application does not limit this.

[0071] It should be understood that the device that applies the first detection signal is diverse, and its specific form depends on the specific type of the first detection signal; this application does not limit this.

[0072] It should be understood that the location where the first detection signal is applied to the pipeline is varied, and those skilled in the art can determine the location where the first detection signal is applied based on the actual situation. This application does not limit this.

[0073] It should be understood that the specific data types collected in the first feedback data group are diverse and exemplary, such as frequency, acceleration, data collection time, etc. Those skilled in the art can determine the specific data types collected in the first feedback data group according to the actual situation, and this application does not limit them.

[0074] Step S102: Perform energy attenuation calculation on each first feedback data group to obtain the first attenuation rate value corresponding to each first feedback data group.

[0075] It should be understood that the first attenuation rate value here is used to represent the energy attenuation of the first feedback data group. Its calculation method is diverse and exemplary. For example, the energy attenuation of a specific feedback data group can be calculated to obtain the first attenuation rate value between the first feedback data group and the specific feedback data group. Another example is to perform energy attenuation calculation between two first feedback data groups with a specific relationship to obtain the first attenuation rate value between one first feedback data group and another first feedback data group. Those skilled in the art can choose an appropriate energy attenuation calculation according to the actual situation. This application does not limit this.

[0076] It should be understood that the energy attenuation calculation here includes energy calculation and attenuation rate calculation. The energy calculation here refers to calculating the energy value based on the first feedback data set obtained in step S101, which is used to represent the energy magnitude of the first detection signal. The attenuation calculation here refers to calculating the energy loss of the first detection signal when it is transmitted in the pipeline.

[0077] Step S103: Compare each first attenuation rate value with a first preset attenuation rate threshold. When the first attenuation rate value is less than the first preset attenuation rate threshold, determine the first attenuation rate value as the first target attenuation rate value.

[0078] It should be understood that the first preset attenuation rate threshold here represents the energy loss threshold when the first detection signal is transmitted in the pipe. When the first attenuation rate value is less than the first preset attenuation rate threshold, it means that the energy loss of the first detection signal is in an abnormal state when it is transmitted in the pipe. When the first attenuation rate value is greater than the first preset attenuation rate threshold, it means that the energy loss of the first detection signal is in a normal state when it is transmitted in the pipe.

[0079] It should be understood that the form of the first preset attenuation rate threshold here is diverse. For example, the first preset attenuation rate threshold may be a fixed preset threshold, or it may be a variable value that changes according to the first data set. Those skilled in the art can set the first preset attenuation rate threshold according to the actual situation, and this application does not limit it in this regard.

[0080] It should be understood that there are multiple first target attenuation rate values ​​here, and the specific number depends on the first attenuation rate value. This application does not limit this number.

[0081] It should be understood that the setting of less than the first preset attenuation rate threshold here is based on energy loss. The actual value of the first attenuation rate is a negative value, such as "-10%". A first attenuation rate value less than the first preset attenuation rate threshold indicates that the energy loss of the vibration signal is greater than the energy loss represented by the specific value of the first preset attenuation rate threshold.

[0082] Step S104: For all first target attenuation rate values, determine the first target position based on the largest first target attenuation rate value among the first target attenuation rate values, and determine the second target position based on the smallest first target attenuation rate value among the first target attenuation rate values.

[0083] It should be understood that the first target position here refers to the starting position where the energy loss of the first detection signal is abnormal during transmission in the pipeline, and the ending position where the energy loss of the first detection signal is abnormal during transmission in the pipeline. The starting position and the ending position here are specific locations on the pipeline.

[0084] Step S105: Position the pipe cleaner according to the first target position and the second target position.

[0085] It should be understood that locating the pipeline cleaner based on the first and second target positions refers to locating the specific pipe segment in the pipeline based on the first and second target positions. The pipeline cleaner is located because the pipeline loses energy abnormally due to absorbing the energy of the detection signal.

[0086] This application proposes a method, apparatus, electronic device, and storage medium for locating a pipeline cleaner. It applies a first detection signal to the pipeline to acquire multiple first feedback data sets. Energy attenuation is calculated for each first feedback data set to obtain a corresponding first attenuation rate value. Each first attenuation rate value is compared with a first preset attenuation rate threshold. If the first attenuation rate value is less than the first preset attenuation rate threshold, it is determined as a first target attenuation rate value. For all first target attenuation rate values, a first target position is determined based on the largest first target attenuation rate value, and a second target position is determined based on the smallest first target attenuation rate value. The pipeline cleaner is then located based on the first and second target positions. By calculating the energy attenuation of the applied first detection signal and detecting whether the energy attenuation of the first detection signal is abnormal, the first and second target positions with abnormal energy attenuation are determined. Locating the pipeline cleaner based on the first and second target positions reduces the consumption of time, manpower, and material resources, and improves the efficiency of locating the pipeline cleaner.

[0087] Please see Figure 2 , Figure 2 for Figure 1 A schematic diagram of a sub-step in step S102. In some possible embodiments of this application, step S102 includes, but is not limited to, the following steps.

[0088] Step S201: Perform energy calculation on each first feedback data group according to the first preset feedback data group sorting to obtain the first detection energy value corresponding to each first feedback data group.

[0089] It should be understood that the specific sorting method of the first feedback data group here is diverse. For example, it can be sorted according to the size of a certain parameter in the first data group. Those skilled in the art can determine the specific first preset feedback data sorting according to the actual situation. This application does not limit it in this regard.

[0090] In some possible embodiments of this application, the sorting method of the first preset feedback data group is based on the acquisition order of the first feedback data group.

[0091] It should be understood that the first detection energy value here represents the energy of the first detection signal when it is transmitted in the pipe. The later the first feedback data set is acquired, the smaller the specific value of the first detection energy value will be.

[0092] In some possible embodiments of this application, the first feedback data set includes vibration acceleration in the X orthogonal direction, vibration acceleration in the Y orthogonal direction, and vibration acceleration in the Z orthogonal direction. Energy calculation is performed to obtain the first detection energy value corresponding to each first feedback data set using the following formula:

[0093]

[0094] It should be understood that A here refers to the first detection energy value. × Let A be the vibration acceleration in the orthogonal direction of X. Y Let A be the vibration acceleration in the orthogonal direction of Y. Z The acceleration is the vibration acceleration in the Z-orthogonal direction.

[0095] Step S202: According to the sorting of the first preset feedback data group, calculate the attenuation rate for each first detection energy value and the corresponding previous first detection energy value to obtain the first attenuation rate value corresponding to each first feedback data group.

[0096] It should be understood that the previous first detection energy value here is based on the sorting of the first preset feedback data group. The first detection energy value is used to calculate the first attenuation rate value with the first detection energy value corresponding to the previous first feedback data group in the sorting of the first preset feedback data group.

[0097] Please see Figure 3 , Figure 3 To and Figure 2 The attenuation trend chart corresponding to step S202. The attenuation trend table in the attenuation rate trend chart is established based on the first attenuation rate value. The attenuation trend table represents the first detected energy value, and the horizontal axis represents the acquisition order of the first feedback data group. Each horizontal axis corresponds to one first feedback data group. The first attenuation rate value obtained in step S202 is represented as the degree of inclination between two points, that is, the first attenuation rate value between each first detected energy value and the corresponding previous first detected energy value. As shown in the figure, the attenuation rate at point K5 is abnormal—the line connecting points K4 and K5 has a large degree of inclination, indicating that there are some objects at this point absorbing the energy of the first detected signal, resulting in a smaller first detected energy value at point K5. The same applies to point K6. However, the attenuation rate at point K7 is normal, indicating that there are no objects at point K7 that cause a smaller first detected energy value at point K5. Based on this, the location of the pipe cleaner is determined in step S105.

[0098] Please see Figure 4 , Figure 4 for Figure 1 A schematic diagram of the sub-steps of step S104 is shown. In some possible embodiments of this application, the pipeline is provided with multiple first preset pipeline positions, and each first feedback data group corresponds to one of all the first preset pipeline positions. Step S104 includes, but is not limited to, the following steps.

[0099] Step S301: For the maximum first target attenuation rate value, the previous first preset pipe position corresponding to the maximum first target attenuation rate value is determined as the first target position according to the sorting of the first preset feedback data group.

[0100] It should be understood that the first target position here corresponds to the previous first attenuation rate value of the maximum first target attenuation rate value, and the first target position is determined based on the sorting of the first preset feedback data group and the maximum target attenuation rate value.

[0101] by Figure 3 For example, in Figure 3 The attenuation rate at point K5 is abnormal and is the maximum target attenuation rate value. The first preset pipe position corresponding to point K4 is determined as the first target position. Point K5 corresponds to the maximum target attenuation rate value. Point K5 corresponds to a first feedback data group. Then the first feedback data group corresponding to point K4 is the previous first feedback data group corresponding to point K5. The first preset pipe position corresponding to the previous first feedback data group of point K5 is the first target position.

[0102] Step S302: For the minimum first target attenuation rate value, determine the first preset pipe position corresponding to the minimum first target attenuation rate value as the second target position.

[0103] Again Figure 3 For example, in Figure 3 The attenuation rate at point K6 is abnormal, while the attenuation rate at point K7 is normal. This indicates that the first attenuation rate value at point K7 is a normal attenuation rate value. Therefore, there is no pipe cleaner at the first preset pipe location corresponding to point K7, and thus the first preset pipe location corresponding to point K7 is not considered the second target location. However, the attenuation rate at point K6 is abnormal, indicating that there is a pipe cleaner near point K6. Therefore, the first preset pipe location corresponding to point K6 is considered the second target location.

[0104] Please see Figure 5 , Figure 5 for Figure 1 A schematic diagram of the sub-steps of step S105. In some possible embodiments of this application, step S105 includes, but is not limited to, the following sub-steps.

[0105] Step S401: Apply a second detection signal to the pipe section between the first target position and the second target position to acquire multiple sets of second feedback data.

[0106] It should be understood that the second detection signal here is diverse, and may be the same as or different from the first detection signal. For example, it may be a sound signal, a vibration signal, etc. Those skilled in the art can apply a specific type of second detection signal according to actual needs, and this application does not limit it in this regard.

[0107] It should be understood that the application method here depends on the specific type of the second detection signal and is diverse. For example, if the second detection signal is a sound signal, a sound signal is applied at the inlet of the pipe where the pipe cleaner is placed. Or if the second detection signal is a vibration signal, a vibration signal is applied at any position of the pipe being tested by means of tapping, direct vibration, etc. This application does not limit this.

[0108] It should be understood that the device that applies the second detection signal is diverse, and its specific form depends on the specific type of the second detection signal, which is not limited in this application.

[0109] It should be understood that the location where the second detection signal is applied to the pipeline is varied, and those skilled in the art can determine the location where the second detection signal is applied based on the actual situation. This application does not limit this.

[0110] It should be understood that the specific data types collected by the second feedback data group are diverse, such as frequency, acceleration, data collection time, etc. Those skilled in the art can determine the specific data types collected by the second feedback data group according to the actual situation, and this application does not limit them.

[0111] Step S402: Perform energy attenuation calculation on each second feedback data group to obtain the second attenuation rate value corresponding to each second feedback data group.

[0112] It should be understood that the second attenuation rate value here is used to represent the energy attenuation of the second feedback data group. Its calculation method is diverse. It can be the same as the calculation method of the first attenuation rate value, or it can be different from the calculation method of the first attenuation rate value. For example, the energy attenuation of two specific feedback data groups can be calculated to obtain the second attenuation rate value between the second feedback data group and the specific feedback data group. Or, the energy attenuation of two second feedback data groups with a specific relationship can be calculated to obtain the second attenuation rate value between one second feedback data group and the other second feedback data group. Those skilled in the art can choose an appropriate energy attenuation calculation according to the actual situation. This application does not limit it in this regard.

[0113] It should be understood that the energy attenuation calculation here, like step S102, includes energy calculation and attenuation rate calculation. Here, energy calculation refers to calculating the energy value based on the second feedback data set obtained in step S401, which is used to represent the energy magnitude of the second detection signal. Here, attenuation calculation refers to calculating the energy loss of the second detection signal when it is transmitted in the pipe section.

[0114] Step S403: For all second target attenuation rate values, determine the third target position based on the largest second target attenuation rate value among the second target attenuation rate values, and determine the fourth target position based on the smallest second target attenuation rate value among the second target attenuation rate values.

[0115] It should be understood that the third target position here refers to the starting position where the energy loss of the second detection signal is abnormal during transmission in the pipe segment, and the fourth target position here refers to the ending position where the energy loss of the second detection signal is abnormal during transmission in the pipe segment. The starting position and the ending position here are specific locations on the pipe segment.

[0116] Step S404: Locate the pipe cleaner in the pipe segment based on the third and fourth target positions.

[0117] It should be understood that locating the pipe cleaner based on the third and fourth target positions refers to locating a more specific pipe segment within the pipe section based on the third and fourth target positions. The pipe cleaner is located because the energy loss of that pipe segment is abnormal due to the absorption of the detection signal energy.

[0118] Please see Figure 6 , Figure 6 A schematic diagram illustrating the steps of another embodiment provided in this application. In some possible embodiments of this application, prior to step S101, the method includes, but is not limited to, the following steps.

[0119] Step S501: Obtain multiple energy tag values ​​for the pipeline.

[0120] It should be understood that the energy tag value here represents the theoretical energy value of the first detection signal at each preset pipe position. Each energy tag value corresponds to one of all the first preset pipe positions. Under normal energy loss conditions, the attenuation error between the first detection energy value corresponding to each first preset pipe position and the energy tag value corresponding to that first preset pipe position is small. The acquisition method is diverse. For example, before the pipe cleaner is placed, signals with different energy magnitudes are applied, and the energy loss of each signal is calculated to obtain multiple energy tag values. Another example is to perform theoretical calculations based on the pipe material. Those skilled in the art can obtain multiple energy tag values ​​of the pipe according to the actual situation. This application does not limit this.

[0121] In some possible embodiments of this application, after step S201, step S102 includes, but is not limited to, the following sub-steps.

[0122] Step S502: Calculate the attenuation rate of each first detection energy value and its corresponding energy tag value to obtain the first attenuation rate value corresponding to each first feedback data group.

[0123] Specifically, the first attenuation rate value is obtained by calculating the attenuation rate using a specific value. The error between each first detection energy value and the corresponding energy tag value is determined using the first attenuation rate value to determine whether a pipe cleaner exists at the first preset position of the first pipe corresponding to the first detection energy value.

[0124] In some possible embodiments of this application, step S103 includes, but is not limited to, the following sub-steps.

[0125] Step S503: Obtain the first preset attenuation rate threshold corresponding to each first preset pipe position.

[0126] It should be understood that the actual pipeline installation environment will affect energy absorption, resulting in different energy absorption capacities of the pipeline at different first preset pipeline locations. For example, pipelines in contact with soil have a strong energy absorption capacity, so the energy loss of the first detection signal at these first preset pipeline locations will increase, affecting the positioning of the pipeline cleaner.

[0127] It should be understood that there are various ways to obtain the first preset attenuation rate threshold corresponding to each first preset pipe position. For example, a tag signal can be applied to calculate energy attenuation to obtain the first preset attenuation rate threshold. Another example is to set a basic first preset attenuation rate threshold and assign different environmental coefficients to different environments. The specific environmental coefficient is combined with the basic first preset attenuation rate threshold to obtain the first preset attenuation rate threshold corresponding to the specific environment. Those skilled in the art can choose the specific acquisition method according to the actual situation to obtain the first preset attenuation rate threshold corresponding to each first preset pipe position. This application does not limit this.

[0128] Step S504: Compare each first attenuation rate value with the first preset attenuation rate threshold corresponding to each first feedback data group to obtain the comparison result corresponding to each first feedback data group.

[0129] It should be understood that the comparison result here represents the attenuation error between the first detection energy value corresponding to each first preset pipe position and the energy tag value corresponding to that first preset pipe position.

[0130] Step S505: When the comparison result corresponding to the first feedback data group indicates that the first attenuation rate value is less than the first preset attenuation rate threshold, the first attenuation rate value is determined as the first target attenuation rate value.

[0131] Specifically, when the comparison result corresponding to the first feedback data group indicates that the first attenuation rate value is less than the first preset attenuation rate threshold, the attenuation error between the first detection energy value corresponding to the first feedback data group and the energy tag value corresponding to the same first preset pipe position is large, indicating that there are factors other than the environment affecting the normal energy loss, thereby determining the position of the pipe cleaner.

[0132] By calculating the first attenuation rate value from the energy tag value and comparing each first attenuation rate value with the first preset attenuation rate threshold corresponding to each first preset pipe position, the influence of the environment on the positioning pipe cleaner is reduced, and the accuracy of positioning the pipe cleaner in the pipe is improved.

[0133] Please see Figure 7 , Figure 7 for Figure 6 A schematic diagram of the sub-steps of step S501. In some possible embodiments of this application, step S501 includes, but is not limited to, the following sub-steps.

[0134] Step S601: Apply a tag signal to the pipes that are not placed in the pipe cleaner, and obtain the tag feedback data group corresponding to each first preset pipe position.

[0135] It should be understood that the tag signals here are multiple detection signals of the same type but carrying different energies. Their specific forms are diverse, such as sound signals, vibration signals, etc. Those skilled in the art can apply specific types of tag signals according to actual needs, and this application does not limit them.

[0136] It should be understood that the devices that apply the tag signal are diverse, and their specific form depends on the specific type of tag signal, which is not limited in this application.

[0137] Step S602: Perform energy calculation on each tag feedback data group to obtain the energy tag value corresponding to each first preset pipe position.

[0138] It should be understood that the energy calculation here refers to calculating the energy value based on the tag feedback data set obtained in step S601, which is used to represent the energy level of the tag signal.

[0139] Please see Figure 8 , Figure 8 This is a schematic diagram of a pipe cleaner positioning device provided in an embodiment of this application, which can realize the above-mentioned pipe cleaner positioning method. The device 800 includes:

[0140] The first feedback data group acquisition module 801 is used to apply a first detection signal to the pipeline and acquire multiple first feedback data groups.

[0141] The first attenuation rate value acquisition module 802 is used to perform energy attenuation calculations on each first feedback data group to obtain the first attenuation rate value corresponding to each first feedback data group.

[0142] The first target attenuation rate acquisition module 803 is used to compare each first attenuation rate value with a first preset attenuation rate threshold. When the first attenuation rate value is less than the first preset attenuation rate threshold, the first attenuation rate value is determined as the first target attenuation rate value.

[0143] The target location acquisition module 804 is used to determine the first target location based on the largest first target attenuation rate value among all the first target attenuation rate values, and to determine the second target location based on the smallest first target attenuation rate value among all the first target attenuation rate values.

[0144] The positioning module 805 is used to position the pipe cleaner according to the first target position and the second target position.

[0145] The specific implementation of the pipe cleaner positioning device is basically the same as the specific implementation of the pipe cleaner positioning method described above, and will not be repeated here.

[0146] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described pipe cleaner positioning method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0147] Please see Figure 9 , Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device 900 includes:

[0148] The processor 901 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application.

[0149] The memory 902 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 902 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 902 and is called and executed by the processor 901 using the pipe cleaner positioning method of the embodiments of this application.

[0150] The input / output interface 903 is used to implement information input and output;

[0151] The communication interface 904 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0152] Bus 905 transmits information between various components of the device (e.g., processor 901, memory 902, input / output interface 903, and communication interface 904);

[0153] The processor 901, memory 902, input / output interface 903, and communication interface 904 are connected to each other within the device via bus 905.

[0154] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described pipe cleaner positioning method.

[0155] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0156] This application proposes a method, apparatus, electronic device, and storage medium for locating a pipeline cleaner. It applies a first detection signal to the pipeline to acquire multiple first feedback data sets. Energy attenuation is calculated for each first feedback data set to obtain a corresponding first attenuation rate value. Each first attenuation rate value is compared with a first preset attenuation rate threshold. If the first attenuation rate value is less than the first preset attenuation rate threshold, it is determined as a first target attenuation rate value. For all first target attenuation rate values, a first target position is determined based on the largest first target attenuation rate value, and a second target position is determined based on the smallest first target attenuation rate value. The pipeline cleaner is then located based on the first and second target positions. By calculating the energy attenuation of the applied first detection signal and detecting whether the energy attenuation of the first detection signal is abnormal, the first and second target positions with abnormal energy attenuation are determined. Locating the pipeline cleaner based on the first and second target positions reduces the consumption of time, manpower, and material resources, and improves the efficiency of locating the pipeline cleaner.

[0157] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0158] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.

[0159] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0160] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0161] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0162] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0163] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0164] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0165] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0166] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0167] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A method of positioning a pipe cleaner, characterized by, The method includes the following steps: A first detection signal is applied to the pipeline to acquire multiple sets of first feedback data. Energy attenuation is calculated for each of the first feedback data groups to obtain the first attenuation rate value corresponding to each of the first feedback data groups. Each of the first attenuation rate values ​​is compared with a first preset attenuation rate threshold. When the first attenuation rate value is less than the first preset attenuation rate threshold, the first attenuation rate value is determined as the first target attenuation rate value. For all the first target attenuation rate values, the first target position is determined based on the largest first target attenuation rate value among the first target attenuation rate values, and the second target position is determined based on the smallest first target attenuation rate value among the first target attenuation rate values. A second detection signal is applied to the pipe segment between the first target position and the second target position to acquire multiple sets of second feedback data. Energy attenuation is calculated for each of the second feedback data groups to obtain the second attenuation rate value corresponding to each of the second feedback data groups; For all the second target attenuation rate values, the third target position is determined based on the largest second target attenuation rate value among the second target attenuation rate values, and the fourth target position is determined based on the smallest second target attenuation rate value among the second target attenuation rate values. The pipe cleaner is located in the pipe section based on the third and fourth target locations.

2. The method of claim 1, wherein, The step of calculating the energy attenuation for each of the first feedback data groups to obtain the first attenuation rate value includes: Energy calculation is performed on each of the first feedback data groups according to the first preset feedback data group sorting, to obtain the first detection energy value corresponding to each first feedback data group; Based on the sorting of the first preset feedback data group, the attenuation rate is calculated for each first detection energy value and the corresponding previous first detection energy value to obtain the first attenuation rate value corresponding to each first feedback data group.

3. The method according to claim 2, characterized in that, The first feedback data set comprises orthogonal direction vibration acceleration, orthogonal direction vibration acceleration, orthogonal direction vibration acceleration; The first feedback data set is used to perform energy calculations to obtain the first detection energy value, which is achieved through the following formula: Among them, the The first detection energy value; The For the Orthogonal vibration acceleration; The For the Orthogonal vibration acceleration; The For the Orthogonal vibration acceleration.

4. The method according to claim 2, characterized in that, The pipeline has multiple first preset pipeline positions, and each first feedback data group corresponds to one of all the first preset pipeline positions. The step of determining the first target location based on the largest first target attenuation rate value among all the first target attenuation rate values, and determining the second target location based on the smallest first target attenuation rate value among all the first target attenuation rate values, includes: For the maximum first target attenuation rate value, the previous first preset pipe position corresponding to the maximum first target attenuation rate value is determined as the first target position according to the sorting of the first preset feedback data group, wherein the first target position corresponds to the previous first attenuation rate value of the maximum first target attenuation rate value. For the minimum first target attenuation rate value, the first preset pipe position corresponding to the minimum first target attenuation rate value is determined as the second target position.

5. The method according to claim 4, characterized in that, Before applying a first detection signal to the pipeline and acquiring multiple first feedback data sets, the method further includes: Obtain multiple energy tag values ​​for the pipeline, wherein each energy tag value corresponds to one of all the first preset pipeline locations; After performing energy calculations on each of the first feedback data groups according to the first preset feedback data group order to obtain the first detection energy value corresponding to each first feedback data group, the method further includes: The attenuation rate of each first detection energy value and the corresponding energy tag value is calculated to obtain the first attenuation rate value corresponding to each first feedback data group. The step of comparing each of the first attenuation rate values ​​with a first preset attenuation rate threshold, and determining the first attenuation rate value as the first target attenuation rate value when the first attenuation rate value is less than the first preset attenuation rate threshold, includes: Obtain the first preset attenuation rate threshold corresponding to each of the first preset pipe positions; Each first attenuation rate value is compared with the first preset attenuation rate threshold corresponding to each first feedback data group to obtain the comparison result corresponding to each first feedback data group. When the comparison result corresponding to the first feedback data group indicates that the first attenuation rate value is less than the first preset attenuation rate threshold, the first attenuation rate value is determined as the first target attenuation rate value.

6. The method according to claim 5, characterized in that, The process of obtaining multiple energy tag values ​​for the pipeline includes: A tag signal is applied to the pipes that are not placed in the pipe cleaner, and a tag feedback data group corresponding to each of the first preset pipe positions is obtained; Energy calculations are performed on each of the tag feedback data groups to obtain the energy tag value corresponding to each of the first preset pipe positions.

7. A positioning device for a pipe cleaner, characterized in that, The device includes: The first feedback data group acquisition module is used to apply a first detection signal to the pipeline and acquire multiple first feedback data groups; The first attenuation rate value acquisition module is used to perform energy attenuation calculation on each of the first feedback data groups to obtain the first attenuation rate value corresponding to each of the first feedback data groups. The first target attenuation rate acquisition module is used to compare each of the first attenuation rate values ​​with a first preset attenuation rate threshold. When the first attenuation rate value is less than the first preset attenuation rate threshold, the first attenuation rate value is determined as the first target attenuation rate value. The target location acquisition module is used to determine the first target location based on the largest first target attenuation rate value among all the first target attenuation rate values, and to determine the second target location based on the smallest first target attenuation rate value among all the first target attenuation rate values. The positioning module is used to apply a second detection signal to the pipe segment between the first target position and the second target position, and acquire multiple second feedback data sets; perform energy attenuation calculation on each second feedback data set to obtain a second attenuation rate value corresponding to each second feedback data set; determine a third target position based on the largest second target attenuation rate value among all second target attenuation rate values, and determine a fourth target position based on the smallest second target attenuation rate value among the second target attenuation rate values; and locate the pipe cleaner in the pipe segment based on the third target position and the fourth target position.

8. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method of any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 6.

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