A basement pipeline detection method, system, storage medium and intelligent terminal

Abstract

The application relates to a basement pipeline detection method and system, a storage medium and an intelligent terminal, relates to the field of basement decoration technology, and comprises the following steps: acquiring detection path information; controlling a preset flight detection device to move on a path corresponding to the detection path information and to count to determine movement distance information, and acquiring identification state information in the movement process of the flight detection device; defining the movement distance information as detection distance information when a state corresponding to the identification state information is consistent with a preset reading state; judging whether a value corresponding to the detection distance information is consistent with a preset pipeline length; if consistent, defining a current position of the flight detection device as a normal point, and controlling the flight detection device to continue moving along the path corresponding to the detection path information and to reset the movement distance information to zero for counting; and if inconsistent, outputting a pipeline offset signal. The application has the effect of detecting whether the pipeline installed in the basement is offset.

Description

Technical Field

[0001] This application relates to the field of basement renovation technology, and in particular to a basement pipe inspection method, system, storage medium and intelligent terminal. Background Technology

[0002] Basement pipes can be categorized according to their purpose into fire protection pipes, sewage pipes, ventilation pipes, and normal water supply pipes, etc., to meet the various needs of users within the building.

[0003] In related technologies, since the basement has a large overall area and the distance between the two ends varies, the installation of basement pipes is generally achieved by splicing pipes of fixed lengths together.

[0004] Regarding the aforementioned technologies, the inventors believe that due to the overall length of the pipeline, there is a possibility of overall pipeline misalignment during the pipeline splicing process. Since the degree of misalignment is not significant, workers cannot detect it by visual inspection, resulting in misalignment during pipeline installation. This not only easily leads to waste of pipeline materials but also makes the pipeline installation unable to meet construction requirements. Therefore, there is an urgent need to design a method for detecting whether the installed pipeline has misaligned. Summary of the Invention

[0005] To detect whether pipes installed in a basement are misaligned, this application provides a basement pipe detection method, system, storage medium, and smart terminal.

[0006] Firstly, this application provides a method for detecting pipes in a basement, employing the following technical solution:

[0007] A method for inspecting pipes in a basement includes:

[0008] Obtain detection path information;

[0009] Control the preset flight detection device to move along the path corresponding to the detection path information and count the movement distance to determine the movement distance information, and acquire the identification status information during the movement of the flight detection device;

[0010] When the state corresponding to the identified state information is consistent with the preset reading state, the movement distance information is defined as the detection distance information;

[0011] Determine whether the value corresponding to the detection distance information is consistent with the preset pipe length;

[0012] If the value corresponding to the detection distance information is consistent with the pipe length, the current position of the flight detection equipment is defined as the normal point, and the detection equipment is controlled to continue moving along the path corresponding to the detection path information and the moving distance information is reset to zero and counted again.

[0013] If the value corresponding to the detected distance information is inconsistent with the pipe length, a pipe offset signal will be output.

[0014] By adopting the above technical solution, the detection path is first obtained to control the movement of the flying detection equipment to acquire signals on the pipeline. When the corresponding signal is acquired, the flight distance of the current flying detection equipment is determined to determine whether it conforms to the normal length of the pipeline, thereby determining whether the pipeline has deviated, so as to facilitate the detection of the installed pipeline.

[0015] Optionally, when the value corresponding to the detection distance information is inconsistent with the pipe length, the basement pipe detection method also includes:

[0016] Obtain signal strength information;

[0017] The signal strength information and acquisition distance information stored in the preset strength database are matched and analyzed to determine the acquisition distance information corresponding to the signal strength information.

[0018] Determine whether the distance value corresponding to the collected distance information is consistent with the preset fixed distance;

[0019] If the distance value corresponding to the collected distance information is consistent with the fixed distance, the chip will output a misfiring signal.

[0020] If the distance value corresponding to the collected distance information is inconsistent with the fixed distance, the pipeline offset signal is output, and the difference is calculated based on the fixed distance and the collected distance information to determine the lateral deviation information.

[0021] The deviation angle information is calculated based on the lateral deviation information and the detection distance information, and the detection path information is corrected and updated based on the deviation angle information.

[0022] By adopting the above technical solution, the distance between the flight detection equipment and the pipeline when the signal is collected can be determined based on the signal strength of the collected signal. This allows it to determine whether the chip is misplaced. At the same time, when the pipeline is offset, the detection path can be corrected and updated based on the pipeline offset, so that the flight detection equipment can be moved to continue detecting the remaining pipeline.

[0023] Optionally, after the chip outputs a misfiring signal, the basement pipe detection method may also include:

[0024] The difference distance information is determined by calculating the difference between the pipe length and the corresponding values ​​of the detection distance information.

[0025] Using a normal point as the center and the pipe length as the radius, a circular path is defined, and the approach path and impact location information are determined based on the path corresponding to the circular path and the fixed distance.

[0026] The flight detection equipment is controlled to move along the path corresponding to the detection path information by the distance value corresponding to the difference distance information, and the current position of the flight detection equipment is defined as the starting point. After the movement, the flight detection equipment is controlled to move along the path corresponding to the approach path information, and Hall voltage parameter information is acquired in real time during the movement.

[0027] Determine whether the value of the Hall voltage parameter information is greater than the preset impact voltage before the location corresponding to the impact location information of the flight detection equipment;

[0028] If the value corresponding to the Hall voltage parameter information is greater than the impact voltage, a double fault alarm signal will be output.

[0029] If the value corresponding to the Hall voltage parameter information is not greater than the impact voltage, then determine whether the value corresponding to the Hall voltage parameter information at the position corresponding to the impact position information is greater than the impact voltage.

[0030] If the value corresponding to the Hall voltage parameter information is not greater than the impact voltage, then a double fault alarm signal is output.

[0031] If the value corresponding to the Hall voltage parameter information is greater than the impact voltage, a normal pipeline signal is output, the starting point is updated to the normal point, and the flight detection equipment is controlled to move to the normal point so that the equipment continues to move along the path corresponding to the detection path information, and the moving distance information is reset to zero and counted again.

[0032] By adopting the above technical solution, when a chip is misplaced, the flight detection device is controlled to move to the end of the pipe, and the device is controlled to move in an arc to determine whether it will hit the pipe at the impact position, thereby determining whether the pipe has been deviated.

[0033] Optionally, during the movement of the aerial inspection equipment, the basement pipe inspection method also includes:

[0034] Determine whether the distance value corresponding to the movement distance information is greater than the pipe length;

[0035] If the distance value corresponding to the movement distance information is not greater than the pipe length, then control the flying detection equipment to continue moving on the path corresponding to the detection path information;

[0036] If the distance value corresponding to the movement distance information is greater than the pipe length, then the arc path information is determined with the previous normal point as the center and the pipe length as the radius, and the flying detection equipment is controlled to move on the path corresponding to the arc path information.

[0037] When the state corresponding to the identified state information matches the read state, the current position of the flight detection equipment is defined as the critical point;

[0038] The detection path information is updated by connecting the previous normal point and the critical point.

[0039] By adopting the above technical solution, when the distance moved by the flight detection equipment exceeds the length of the pipeline and no corresponding signal is detected, it indicates that the pipeline is shifting away from the flight detection equipment. At this time, the flight detection equipment is controlled to move along an arc to move closer to the pipeline, thereby determining the specific location of the pipeline and updating the detection path for subsequent movement of the flight detection equipment.

[0040] Optionally, the method for moving the flight detection equipment along the path corresponding to the arc-shaped path information includes:

[0041] Obtain collision voltage parameter information;

[0042] Determine whether the value corresponding to the collision voltage parameter information is less than the collision voltage;

[0043] If the value corresponding to the collision voltage parameter information is not less than the impact voltage, then the current position of the flight detection equipment is defined as the collision point;

[0044] The virtual normal point is determined based on the previous normal point and a fixed distance, and the pipeline straightness information is determined based on the collision point and the virtual normal point.

[0045] Establish a straight line parallel to the straight line corresponding to the pipeline straight line information at the previous normal point to determine the intersection point of the straight line and the path corresponding to the arc path information, and define the intersection point as the critical point to update the detection path information;

[0046] If the value corresponding to the collision voltage parameter information is less than the collision voltage, then determine whether the state corresponding to the identification state information is consistent with the reading state.

[0047] If the status corresponding to the identified status information is consistent with the read status, the current position of the flight detection equipment is defined as the critical point to update the detection path information;

[0048] If the identified status information does not match the read status, the flight detection equipment will continue to move along the path corresponding to the arc-shaped path information.

[0049] By adopting the above technical solution, the collision point can be determined based on the change in impact voltage during the arc movement of the flight detection equipment. At this time, the corresponding straight line of the pipeline can be determined based on the collision point, thereby determining a straight line parallel to the pipeline to update the detection path.

[0050] Optionally, when the detection path information is updated, the basement pipe detection method also includes:

[0051] Output an update completion signal and define the corresponding pipe during the update as the offset pipe;

[0052] Control the flight detection equipment to move along the path corresponding to the updated detection path information and determine whether to output a normal point;

[0053] If no normal point is output, continue to update the detection path information to determine the new offset pipeline;

[0054] If a normal point is output, the pipe corresponding to that normal point is defined as the accompanying normal pipe of the offset pipe.

[0055] By adopting the above technical solution, the subsequent pipelines of the offset pipeline are determined to determine whether the subsequent pipelines are offset relative to the offset pipeline, thereby facilitating subsequent installation and modification operations by the staff.

[0056] Optional methods for inspecting basement pipes include:

[0057] The number of deviations is determined by counting based on the update completion signal;

[0058] The deviation percentage is determined by calculating the number of deviations and the preset number of tests.

[0059] Determine whether the value corresponding to the deviation percentage information is greater than the preset lower limit percentage;

[0060] If the value corresponding to the deviation percentage information is greater than the lower limit percentage, an abnormal installation signal will be output.

[0061] If the value corresponding to the deviation percentage information is not greater than the lower limit percentage, then a normal installation signal will be output.

[0062] By adopting the above technical solution, the overall deviation of the pipeline can be determined, so that when there are many deviated pipelines, they can be quickly marked so that staff can deal with the situation in a timely manner.

[0063] Secondly, this application provides a basement pipe inspection system, which adopts the following technical solution:

[0064] A basement pipe inspection system, comprising:

[0065] The acquisition module is used to acquire detection path information;

[0066] The processing module, connected to the acquisition and judgment modules, is used for information storage and processing;

[0067] The judgment module, connected to the acquisition and processing modules, is used for judging information.

[0068] The processing module controls the preset flight detection device to move along the path corresponding to the detection path information and counts the movement distance to determine the movement distance information. During the movement of the flight detection device, the acquisition module acquires the identification status information.

[0069] When the judgment module determines that the state corresponding to the recognition state information is consistent with the preset reading state, the processing module defines the movement distance information as the detection distance information;

[0070] The judgment module determines whether the value corresponding to the detected distance information is consistent with the preset pipe length;

[0071] If the judgment module determines that the value corresponding to the detection distance information is consistent with the pipe length, the processing module defines the current position of the flying detection equipment as the normal point, and controls the detection equipment to continue moving along the path corresponding to the detection path information and resets the moving distance information to zero to start counting again.

[0072] If the judgment module determines that the value corresponding to the detection distance information is inconsistent with the pipe length, the processing module outputs a pipe offset signal.

[0073] By adopting the above technical solution, the acquisition module first acquires the detection path, so that the processing module controls the flight detection equipment to move in order to acquire signals on the pipeline. When the corresponding signal is acquired, the processing module determines the flight distance of the current flight detection equipment, so that the judgment module can determine whether it conforms to the normal length of the pipeline, thereby determining whether the pipeline has deviated, so as to facilitate the detection of the installed pipeline.

[0074] Thirdly, this application provides a smart terminal, which adopts the following technical solution:

[0075] A smart terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed any of the aforementioned basement pipe detection methods.

[0076] By adopting the above technical solution and using a smart terminal, the detection path is first obtained to control the movement of the flying detection equipment to acquire signals on the pipeline. When the corresponding signal is acquired, the flight distance of the current flying detection equipment is determined to determine whether it conforms to the normal length of the pipeline, thereby determining whether the pipeline has deviated, so as to facilitate the detection of the installed pipeline.

[0077] Fourthly, this application provides a computer storage medium capable of storing a corresponding program, which has the characteristic of detecting whether the pipes installed in the basement are misaligned, and adopts the following technical solution:

[0078] A computer-readable storage medium storing a computer program that can be loaded by a processor and executed by any of the above-described basement pipe detection methods.

[0079] By adopting the above technical solution, the computer program containing the basement pipeline inspection method in the storage medium first obtains the inspection path, controls the movement of the flying inspection equipment to acquire signals on the pipeline, and determines the flight distance of the current flying inspection equipment when the corresponding signal is acquired, so as to determine whether it conforms to the normal length of the pipeline, thereby determining whether the pipeline has deviated, so as to facilitate the inspection of the installed pipeline.

[0080] In summary, this application includes at least one of the following beneficial technical effects:

[0081] 1. By acquiring signals on the pipeline through flight detection equipment, it can be determined whether the pipeline is parallel to the moving path of the flight detection equipment, thereby determining whether the installed pipeline has been deviated;

[0082] 2. In the event of pipeline deviation, the detection path can be updated in a timely manner to allow the aerial inspection equipment to continue its inspection.

[0083] 3. It can record instances of deviation to determine the overall installation status of the pipeline. Attached Figure Description

[0084] Figure 1 This is a flowchart of the basement pipe inspection method.

[0085] Figure 2 This is a schematic diagram of the pipeline deflecting towards the direction of the flying equipment.

[0086] Figure 3 This is a flowchart of a method for correcting equipment offset within a pipeline.

[0087] Figure 4 This is a flowchart of the chip misplacement analysis method.

[0088] Figure 5 This is a schematic diagram of a chip misplacement detection method.

[0089] Figure 6 This is a flowchart of a method for correcting pipeline offset from equipment.

[0090] Figure 7 This is a schematic diagram of the pipeline shifting away from the flight equipment.

[0091] Figure 8 This is a flowchart of the arc-shaped path flight method.

[0092] Figure 9 This is a flowchart of the pipeline situation definition method.

[0093] Figure 10 This is a flowchart of the method for determining the overall offset of the pipeline.

[0094] Figure 11 This is a flowchart of the module process for basement pipe inspection methods. Detailed Implementation

[0095] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figure 1-11 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0096] The embodiments of the present invention will now be described in further detail with reference to the accompanying drawings.

[0097] This application discloses a method for inspecting pipelines in a basement. A flying inspection device moves along the inspection path to collect signals on the pipeline, thereby determining whether the pipeline is parallel to the flight path of the flying inspection device and whether the pipeline has deviated. At the same time, when the pipeline deviates, the inspection path of the flying inspection device can be corrected and updated accordingly so that the flying inspection device can inspect subsequent pipelines.

[0098] Reference Figure 1 The procedure for basement pipe inspection includes the following steps:

[0099] Step S100: Obtain detection path information.

[0100] The path corresponding to the detection path information is the path along which the equipment for detecting pipeline offset moves. (Refer to...) Figure 2 This approach involves first obtaining the construction drawings, then determining the location of the pipeline from the drawings, and finally determining the inspection path.

[0101] Step S101: Control the preset flight detection device to move on the path corresponding to the detection path information and count the movement distance to determine the movement distance information, and acquire the identification status information during the movement of the flight detection device.

[0102] The flight detection equipment is a device with flight capabilities that can identify and read RFID chips. It can be formed by combining an RFID chip reader carried on a drone. An RFID chip that can be read by the flight detection equipment is installed on the pipe. The chip is installed at the end of the pipe and is attached by the operator. The distance value corresponding to the movement distance information is the distance traveled by the flight detection equipment along the path corresponding to the detection path information. The identification status information corresponds to the reading status of the identification machine in the flight detection equipment that can read the RFID chip, including successful reading and unreading.

[0103] Step S102: When the state corresponding to the identified state information is consistent with the preset reading state, the moving distance information is defined as the detection distance information.

[0104] The read status refers to the state when the flight inspection equipment collects the RFID chip signal. When the state corresponding to the identification status information is consistent with the read status, it indicates that the flight inspection equipment has moved to the position corresponding to the location where the RFID chip is installed on the pipeline. At this time, the movement distance information is defined as the detection distance information for identification, which facilitates subsequent analysis of pipeline offset. At the same time, when the corresponding signal is collected, the RFID chip attached to the pipeline can be removed for reuse. The method for removing the RFID chip can be achieved by installing a corresponding robotic arm on the flight inspection equipment.

[0105] Step S103: Determine whether the value corresponding to the detection distance information is consistent with the preset pipe length.

[0106] The pipe length is the length value of a single pipe section entered by the staff. The purpose of the judgment is to determine whether the movement of the current flight detection equipment is parallel to the pipe.

[0107] Step S1031: If the value corresponding to the detection distance information is consistent with the pipe length, then define the current position of the flight detection equipment as a normal point, and control the detection equipment to continue moving along the path corresponding to the detection path information and reset the movement distance information to zero to start counting again.

[0108] When the value corresponding to the detection distance information is consistent with the pipe length, it indicates that the flying detection equipment is parallel to the pipe, that is, the pipe has not deviated. At this time, the current position of the flying detection equipment is defined as the normal point for identification, so as to facilitate subsequent analysis. At the same time, the movement distance information is reset to zero and counted again so that the flying detection equipment can perform offset detection on the next pipe section.

[0109] Step S1032: If the value corresponding to the detected distance information is inconsistent with the pipe length, output the pipe offset signal.

[0110] When the value corresponding to the detection distance information is inconsistent with the pipe length, it indicates that the distance the flying detection equipment moves when it collects the signal is different from the pipe length. That is, the pipe is offset in the direction of moving closer to the flying detection equipment. At this time, the pipe offset signal is output for identification, so as to realize effective offset detection of the installed pipe.

[0111] Reference Figure 3 When the detected distance information does not match the pipe length, the basement pipe inspection method also includes:

[0112] Step S200: Obtain signal strength information.

[0113] The signal strength information corresponds to the signal strength value when the flight detection equipment collects the RFID chip signal.

[0114] Step S201: Match and analyze the signal strength information and acquisition distance information stored in the preset strength database to determine the acquisition distance information corresponding to the signal strength information.

[0115] The distance corresponding to the acquired distance information is the distance between the acquisition device and the RFID chip under the corresponding strength value of the signal strength information. The correspondence between the two was obtained by the staff through multiple experiments, and a strength database was established based on the correspondence between the two. The method of establishing the database is a conventional technical means for those skilled in the art and will not be described in detail.

[0116] Step S202: Determine whether the distance value corresponding to the collected distance information is consistent with the preset fixed distance.

[0117] The fixed distance is the distance between the flying detection equipment and the pipeline when the equipment moves along the path corresponding to the detection path information, as set by the staff. The purpose of the judgment is to determine whether the distance between the flying detection equipment and the pipeline meets the requirements when the chip signal is collected.

[0118] Step S2021: If the distance value corresponding to the collected distance information is consistent with the fixed distance, then output the chip misfiring signal.

[0119] When the distance value corresponding to the collected distance information is consistent with the fixed distance, it indicates that the pipeline has not shifted. The reason for the inconsistent movement distance is that the chip is placed in the wrong position. At this time, the chip misplacement signal is output to mark the situation for further analysis.

[0120] Step S2022: If the distance value corresponding to the collected distance information is inconsistent with the fixed distance, output the pipeline offset signal, and calculate the difference based on the fixed distance and the collected distance information to determine the lateral deviation information.

[0121] When the distance value corresponding to the collected distance information is inconsistent with the fixed distance, it indicates that the pipeline has shifted towards the direction of the flight detection equipment. At this time, a pipeline shift signal is output to mark this situation for subsequent processing; (Refer to...) Figure 2 The value corresponding to the lateral deviation information is the difference between the actual distance between the flight detection equipment and the pipeline and the required distance, which is determined by subtracting the distance value corresponding to the collected distance information from the fixed distance.

[0122] Step S203: Calculate and determine the deviation angle information based on the lateral deviation information and the detection distance information, and correct and update the detection path information based on the deviation angle information.

[0123] The deviation angle information corresponds to the angle value of the pipeline offset from the originally planned direction. It is determined by trigonometric function calculation based on the values ​​corresponding to the lateral deviation information and the detection distance information. Then, the path corresponding to the detection path information is offset and updated according to the angle corresponding to the deviation angle information to determine the path parallel to the pipeline that has deviated, so as to facilitate the subsequent control of the flight detection equipment to continue detection.

[0124] Reference Figure 4 After the chip outputs a misfiring signal, the basement pipe detection method also includes:

[0125] Step S300: Calculate the difference between the pipe length and the detection distance information to determine the difference distance information.

[0126] The output of the misplaced chip signal indicates that the RFID chip was misplaced along the length of the pipe during installation. Specifically, it was installed in the middle of the pipe to allow the flight detection equipment to detect it prematurely. This could be due to either a pipe offset but the chip being installed too far forward, thus maintaining a relatively stable distance between the flight detection equipment and the pipe, or a pipe not being offset but the chip being prematurely positioned. Further analysis is needed. (Refer to...) Figure 5 The distance value corresponding to the difference distance information is the difference between the distance that the flight detection equipment has moved when it collects the RFID chip and the distance that it originally needed to move. It is determined by subtracting the distance corresponding to the detection distance information from the pipe length.

[0127] Step S301: Using the previous normal point as the center and the pipe length as the radius, define the circular path information, and determine the approach path information and impact position information based on the path corresponding to the circular path information and the fixed distance.

[0128] The previous normal point is the most recently defined normal point. The circular path information corresponds to a circular path with the previous normal point as the center and the pipe length as the radius. (Refer to...) Figure 5 The location corresponding to the impact location information is the intersection of the pipeline and the path corresponding to the circular path information when the pipeline has not deviated. The intersection of the detection path and the circular path is the starting point of the flight detection equipment. The path corresponding to the approach path information is the arc-shaped path between the starting point and the impact location on the circular path.

[0129] Step S302: Control the flight detection device to move along the path corresponding to the detection path information by the distance value corresponding to the difference distance information, and define the current position of the flight detection device as the starting point. After moving, control the flight detection device to move along the path corresponding to the proximity path information, and acquire Hall voltage parameter information in real time during the movement.

[0130] The distance value corresponding to the differential distance information of the controlled flight inspection equipment is used to make the flight inspection equipment first move to the end of the pipeline under normal conditions, and then control the flight inspection equipment to move along the approach path to make the flight inspection equipment approach the pipeline. The value corresponding to the Hall voltage parameter information is the Hall voltage value on the flight inspection equipment, which can be obtained by installing a monitoring module.

[0131] Step S303: Determine whether the value corresponding to the Hall voltage parameter information is greater than the preset impact voltage before the position corresponding to the impact position information.

[0132] The impact voltage is the minimum Hall voltage value set by the staff to determine when the flight detection equipment collides. The purpose of the determination is to know whether the flight detection equipment collided before the location corresponding to the impact location information, that is, to determine whether there is a situation where the pipeline is moving closer to the detection path of the flight detection equipment.

[0133] Step S3031: If the value corresponding to the Hall voltage parameter information is greater than the impact voltage, a double fault alarm signal is output.

[0134] When the value corresponding to the Hall voltage parameter information is greater than the impact voltage, it indicates that the pipeline has deviated from the detection path of the flight detection equipment. This indicates both a chip installation error and pipeline misalignment. In this case, a double error alarm signal is output to identify the situation so that external personnel can be notified in a timely manner.

[0135] Step S3032: If the value corresponding to the Hall voltage parameter information is not greater than the impact voltage, then determine whether the value corresponding to the Hall voltage parameter information at the position corresponding to the impact position information is greater than the impact voltage.

[0136] When the value corresponding to the Hall voltage parameter information is not greater than the impact voltage, it indicates that no impact occurred before the flight detection equipment moved to the impact position. The purpose of this judgment is to determine whether the flight detection equipment was impacted at the impact position, so as to determine whether the pipeline has deviated in a direction away from the detection path.

[0137] Step S30321: If the value corresponding to the Hall voltage parameter information is not greater than the impact voltage, then output a double fault alarm signal.

[0138] When the value corresponding to the Hall voltage parameter information is not greater than the impact voltage, it indicates that the flight detection equipment did not impact the required impact position, that is, the pipeline is misaligned. At this time, there is both a chip installation error and a pipeline misalignment. In this case, a double error alarm signal is output to identify the situation so that external personnel can be informed of the situation in a timely manner.

[0139] Step S30322: If the value corresponding to the Hall voltage parameter information is greater than the impact voltage, output a normal pipeline signal, update the starting point to the normal point, control the flight detection equipment to move to the normal point so that the equipment continues to move along the path corresponding to the detection path information, and reset the movement distance information to zero and start counting again.

[0140] When the value corresponding to the Hall voltage parameter information is greater than the impact voltage, it indicates that the flight inspection equipment has struck the required location, meaning that the pipeline has not deviated. At this time, a normal pipeline signal is output to mark the pipeline so that the staff can know the specific situation of the pipeline. At the same time, the starting point is defined as the normal point for marking to determine the pipeline endpoint. The flight inspection equipment is then controlled to move to the normal point so that it returns to the inspection path, allowing the flight inspection equipment to continue its inspection operation.

[0141] Reference Figure 6 During the movement of aerial inspection equipment, basement pipe inspection methods also include:

[0142] Step S400: Determine whether the distance value corresponding to the movement distance information is greater than the pipe length.

[0143] The purpose of this assessment is to determine whether the flight detection equipment has passed the chip identification point, in order to identify whether there is a situation where the offset is too far and the chip signal cannot be collected.

[0144] Step S4001: If the distance value corresponding to the movement distance information is not greater than the pipe length, then control the flying detection equipment to continue moving on the path corresponding to the detection path information.

[0145] When the distance value corresponding to the movement distance information is not greater than the pipe length, it means that the flight detection equipment has not yet passed the signal identification position. At this time, you can continue to control the movement of the flight detection equipment.

[0146] Step S4002: If the distance value corresponding to the movement distance information is greater than the pipe length, then take the previous normal point as the center and the pipe length as the radius to determine the arc path information, and control the flying detection equipment to move on the path corresponding to the arc path information.

[0147] Reference Figure 7When the distance value corresponding to the movement distance information is greater than the pipe length, it means that the flight detection equipment has passed the signal identification position, but the chip signal has not been collected yet. This means that the pipe has shifted away from the detection path. At this time, a circle is drawn with the center radius, and the path information of the movement towards the pipe on the circle is determined as the arc path information to control the flight detection equipment to move towards the pipe.

[0148] Step S401: When the state corresponding to the identified state information is consistent with the read state, the current position of the flight detection device is defined as the critical point.

[0149] When the identified status information matches the read status, it indicates that the flight detection device has acquired the chip signal on the pipeline. At this time, the distance between the pipeline and the flight detection device is the same as the distance between the pipeline and the flight detection device when the pipeline has not shifted. Therefore, the current position of the flight detection device is defined as the critical point for identification, so as to facilitate subsequent analysis.

[0150] Step S402: Connect the previous normal point and the critical point to update the detection path information.

[0151] By connecting the previous normal point and the critical point, a straight line parallel to the current pipeline is determined, which allows the detection path information to be updated so that subsequent flight detection equipment can move along a path parallel to the pipeline for detection.

[0152] Reference Figure 8 The methods for moving the flight detection equipment along the path corresponding to the arc-shaped path information include:

[0153] Step S500: Obtain collision voltage parameter information.

[0154] The collision voltage parameter information corresponds to the Hall voltage value when the flying equipment moves along the arc path.

[0155] Step S501: Determine whether the value corresponding to the collision voltage parameter information is less than the collision voltage.

[0156] The purpose of the assessment is to determine whether the flight detection equipment has been involved in a collision.

[0157] Step S5011: If the value corresponding to the collision voltage parameter information is not less than the impact voltage, then the current position of the flight detection equipment is defined as the collision point.

[0158] When the value corresponding to the collision voltage parameter information is not less than the impact voltage, it indicates that the flight detection equipment has collided. At this time, the current position of the flight detection equipment is defined as the collision point for identification, so as to determine the specific location of the pipeline.

[0159] Step S502: Determine the virtual normal point based on the previous normal point and the fixed distance, and determine the pipeline straightness information based on the collision point and the virtual normal point.

[0160] The virtual normal point is the endpoint on the pipeline that is a fixed distance away from the previous normal point. The straight line corresponding to the pipeline straight line information is a straight line in the direction of pipeline length, which is determined by connecting the collision point and the virtual normal point.

[0161] Step S503: Establish a straight line parallel to the straight line corresponding to the pipeline straight line information at the previous normal point to determine the intersection point of the straight line and the path corresponding to the arc path information, and define the intersection point as the critical point to update the detection path information.

[0162] Establishing a straight line parallel to the pipeline from the normal point allows for the determination of specific critical points. In addition to updating the detection path information, it also enables the flying detection equipment to move to the critical point to facilitate the detection of the next section of pipeline.

[0163] Step S5012: If the value corresponding to the collision voltage parameter information is less than the collision voltage, then determine whether the state corresponding to the identification state information is consistent with the reading state.

[0164] When the value corresponding to the collision voltage parameter information is less than the impact voltage, it indicates that the flight detection equipment has not experienced an impact. At this time, it is determined whether the pipe position can be determined by acquiring the chip signal before the impact.

[0165] Step S50121: If the state corresponding to the identified state information is consistent with the read state, then the current position of the flight detection device is defined as the critical point to update the detection path information.

[0166] When the status corresponding to the identified status information is consistent with the read status, it means that the flight detection equipment has identified the chip, that is, the chip is installed correctly. At this time, the current position of the flight detection equipment is defined as a critical point for identification, so as to update the detection path information.

[0167] Step S50122: If the state corresponding to the identified state information is inconsistent with the read state, then continue to control the flight detection device to move along the path corresponding to the arc path information.

[0168] When the status corresponding to the identified status information is inconsistent with the read status, it means that no signal from the chip has been collected. In this case, you can continue to control the flight detection device to move.

[0169] Reference Figure 9 When updating the detection path information, the basement pipe detection method also includes:

[0170] Step S600: Output an update completion signal and define the corresponding pipe during the update as an offset pipe.

[0171] Output an update completion signal to confirm the update status, and define the corresponding pipe at the time of update as the offset pipe to identify different pipes so that staff can know which pipes have been offset and make corrections accordingly.

[0172] Step S601: Control the flight detection equipment to move along the path corresponding to the updated detection path information and determine whether to output a normal point.

[0173] The purpose of the judgment is to determine whether the pipe connected to the offset pipe continues to offset relative to the offset pipe, so as to determine whether the pipe connected to the offset pipe is installed correctly relative to the offset pipe.

[0174] Step S6011: If no normal point is output, continue to update the detection path information to determine the new offset pipeline.

[0175] If no normal point is output, it means that the subsequent pipeline has deviated further from the offset pipeline. In this case, the offset pipeline should be re-determined to continue the detection.

[0176] Step S6012: If a normal point is output, the pipe corresponding to the normal point is defined as the accompanying normal pipe of the offset pipe.

[0177] When a normal point is output, it means that the subsequent pipes are installed correctly compared to the offset pipes. At this time, these pipes are defined as accompanying normal pipes and marked so that subsequent staff do not need to disassemble and correct these pipes, thus improving the overall efficiency of correction.

[0178] Reference Figure 10 Basement pipe inspection methods also include:

[0179] Step S700: Count based on the update completion signal to determine the number of deviations.

[0180] The deviation count information corresponds to the total number of offset pipes, which can be determined by counting the update completion signals. The counting method is a conventional technique for those skilled in the art and will not be elaborated here.

[0181] Step S701: Calculate the deviation percentage information based on the deviation count information and the preset number of detections.

[0182] The number of inspections refers to the number of times the pipeline needs to be inspected for deviation, i.e., the number of pipelines that need to be passed through on the first determined inspection path. The value corresponding to the deviation percentage information is the ratio of the pipelines that have deviated to all pipelines, which is determined by dividing the value corresponding to the deviation number information by the number of inspections.

[0183] Step S702: Determine whether the value corresponding to the deviation ratio information is greater than the preset lower limit ratio.

[0184] The lower limit ratio is the minimum value set by the staff to determine the overall deviation of the pipeline. The purpose of the judgment is to determine whether the currently installed pipeline is qualified.

[0185] Step S7021: If the value corresponding to the deviation ratio information is greater than the lower limit ratio, then output an abnormal installation signal.

[0186] When the value corresponding to the deviation percentage information is greater than the lower limit percentage, it indicates that the overall deviation of the pipeline is large and there is an installation abnormality. At this time, an abnormal installation signal is output to inform the staff of the situation so that subsequent handling can be carried out.

[0187] Step S7022: If the value corresponding to the deviation ratio information is not greater than the lower limit ratio, then output a normal installation signal.

[0188] When the value corresponding to the deviation percentage information is not greater than the lower limit percentage, it indicates that the overall deviation of the pipeline is not large. At this time, a normal installation signal is output to inform the staff of the situation so that the staff can handle it in the future.

[0189] Reference Figure 11 Based on the same inventive concept, embodiments of the present invention provide a basement pipe inspection system, comprising:

[0190] The acquisition module is used to acquire detection path information;

[0191] The processing module, connected to the acquisition and judgment modules, is used for information storage and processing;

[0192] The judgment module, connected to the acquisition and processing modules, is used for judging information.

[0193] The processing module controls the preset flight detection device to move along the path corresponding to the detection path information and counts the movement distance to determine the movement distance information. During the movement of the flight detection device, the acquisition module acquires the identification status information.

[0194] When the judgment module determines that the state corresponding to the recognition state information is consistent with the preset reading state, the processing module defines the movement distance information as the detection distance information;

[0195] The judgment module determines whether the value corresponding to the detected distance information is consistent with the preset pipe length;

[0196] If the judgment module determines that the value corresponding to the detection distance information is consistent with the pipe length, the processing module defines the current position of the flying detection equipment as the normal point, and controls the detection equipment to continue moving along the path corresponding to the detection path information and resets the moving distance information to zero to start counting again.

[0197] If the judgment module determines that the value corresponding to the detection distance information is inconsistent with the pipe length, the processing module outputs a pipe offset signal.

[0198] The pipeline deviation determination module is used to determine whether the pipeline is moving towards the flight detection equipment, so that the detection path of the flight detection equipment can be updated when such a situation occurs.

[0199] The chip misplacement determination module is used to determine whether there is still pipe offset when the chip is misplaced in the pipe;

[0200] The pipeline deviation determination module is used to determine whether the pipeline is moving away from the direction of the flight inspection equipment, so that the detection path of the flight inspection equipment can be updated when such a situation occurs.

[0201] The arc movement determination module is used to determine the specific situation when the flight detection equipment moves in an arc, so as to effectively update the detection path;

[0202] The accompanying pipeline determination module is used to determine the subsequent pipeline conditions of the offset pipeline to facilitate subsequent operations by staff.

[0203] The overall offset determination module is used to determine the overall offset of the pipeline so that staff can know whether the currently installed pipeline meets the construction requirements.

[0204] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above 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 process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0205] This invention provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed as a basement pipe detection method.

[0206] Computer storage media include, for example, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, optical disks, and other media that can store program code.

[0207] Based on the same inventive concept, embodiments of the present invention provide a smart terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed as a basement pipe detection method.

[0208] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above 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 process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0209] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for detecting pipes in a basement, characterized in that, include: Obtain detection path information; Control the preset flight detection device to move along the path corresponding to the detection path information and count the movement distance to determine the movement distance information, and acquire the identification status information during the movement of the flight detection device; When the state corresponding to the identified state information is consistent with the preset reading state, the movement distance information is defined as the detection distance information; Determine whether the value corresponding to the detection distance information is consistent with the preset pipe length; If the value corresponding to the detection distance information is consistent with the pipe length, the current position of the flight detection equipment is defined as the normal point, and the detection equipment is controlled to continue moving along the path corresponding to the detection path information and the moving distance information is reset to zero and counted again. If the value corresponding to the detected distance information is inconsistent with the pipe length, then output a pipe offset signal; When the detected distance information does not correspond to the pipe length, the basement pipe inspection method also includes: Obtain signal strength information; The signal strength information and acquisition distance information stored in the preset strength database are matched and analyzed to determine the acquisition distance information corresponding to the signal strength information. Determine whether the distance value corresponding to the collected distance information is consistent with the preset fixed distance; If the distance value corresponding to the collected distance information is consistent with the fixed distance, the chip will output a misfiring signal. If the distance value corresponding to the collected distance information is inconsistent with the fixed distance, the pipeline offset signal is output, and the difference is calculated based on the fixed distance and the collected distance information to determine the lateral deviation information. The deviation angle information is calculated based on the lateral deviation information and the detection distance information, and the detection path information is corrected and updated based on the deviation angle information. During the movement of aerial inspection equipment, basement pipe inspection methods also include: Determine whether the distance value corresponding to the movement distance information is greater than the pipe length; If the distance value corresponding to the movement distance information is not greater than the pipe length, then control the flying detection equipment to continue moving on the path corresponding to the detection path information; If the distance value corresponding to the movement distance information is greater than the pipe length, then the arc path information is determined with the previous normal point as the center and the pipe length as the radius, and the flying detection equipment is controlled to move on the path corresponding to the arc path information. When the state corresponding to the identified state information matches the read state, the current position of the flight detection equipment is defined as the critical point; The detection path information is updated by connecting the previous normal point and the critical point.

2. The method for detecting basement pipes according to claim 1, characterized in that, After the chip outputs a misfiring signal, the basement pipe detection method also includes: The difference distance information is determined by calculating the difference between the pipe length and the corresponding values ​​of the detection distance information. Using a normal point as the center and the pipe length as the radius, a circular path is defined, and the approach path and impact location information are determined based on the path corresponding to the circular path and the fixed distance. The flight detection equipment is controlled to move along the path corresponding to the detection path information by the distance value corresponding to the difference distance information, and the current position of the flight detection equipment is defined as the starting point. After the movement, the flight detection equipment is controlled to move along the path corresponding to the approach path information, and Hall voltage parameter information is acquired in real time during the movement. Determine whether the value of the Hall voltage parameter information is greater than the preset impact voltage before the location corresponding to the impact location information of the flight detection equipment; If the value corresponding to the Hall voltage parameter information is greater than the impact voltage, a double fault alarm signal will be output. If the value corresponding to the Hall voltage parameter information is not greater than the impact voltage, then determine whether the value corresponding to the Hall voltage parameter information at the position corresponding to the impact position information is greater than the impact voltage. If the value corresponding to the Hall voltage parameter information is not greater than the impact voltage, then a double fault alarm signal is output. If the value corresponding to the Hall voltage parameter information is greater than the impact voltage, a normal pipeline signal is output, the starting point is updated to the normal point, and the flight detection equipment is controlled to move to the normal point so that the equipment continues to move along the path corresponding to the detection path information, and the moving distance information is reset to zero and counted again.

3. The method for detecting basement pipes according to claim 1, characterized in that, The methods for moving the flight detection equipment along the path corresponding to the arc-shaped path information include: Obtain collision voltage parameter information; Determine whether the value corresponding to the collision voltage parameter information is less than the collision voltage; If the value corresponding to the collision voltage parameter information is not less than the impact voltage, then the current position of the flight detection equipment is defined as the collision point; The virtual normal point is determined based on the previous normal point and a fixed distance, and the pipeline straightness information is determined based on the collision point and the virtual normal point. Establish a straight line parallel to the straight line corresponding to the pipeline straight line information at the previous normal point to determine the intersection point of the straight line and the path corresponding to the arc path information, and define the intersection point as the critical point to update the detection path information; If the value corresponding to the collision voltage parameter information is less than the collision voltage, then determine whether the state corresponding to the identification state information is consistent with the reading state. If the status corresponding to the identified status information is consistent with the read status, the current position of the flight detection equipment is defined as the critical point to update the detection path information; If the identified status information does not match the read status, the flight detection equipment will continue to move along the path corresponding to the arc-shaped path information.

4. The method for detecting basement pipes according to claim 3, characterized in that, When updating the detection path information, the basement pipe detection method also includes: Output an update completion signal and define the corresponding pipe during the update as the offset pipe; Control the flight detection equipment to move along the path corresponding to the updated detection path information and determine whether to output a normal point; If no normal point is output, continue to update the detection path information to determine the new offset pipeline; If a normal point is output, the pipe corresponding to that normal point is defined as the accompanying normal pipe of the offset pipe.

5. The method for detecting basement pipes according to claim 4, characterized in that, Basement pipe inspection methods also include: The number of deviations is determined by counting based on the update completion signal; The deviation percentage is determined by calculating the number of deviations and the preset number of tests. Determine whether the value corresponding to the deviation percentage information is greater than the preset lower limit percentage; If the value corresponding to the deviation percentage information is greater than the lower limit percentage, an abnormal installation signal will be output. If the value corresponding to the deviation percentage information is not greater than the lower limit percentage, then a normal installation signal will be output.

6. A basement pipe inspection system, characterized in that, include: The acquisition module is used to acquire detection path information; The processing module, connected to the acquisition and judgment modules, is used for information storage and processing; The judgment module, connected to the acquisition and processing modules, is used for judging information. The processing module controls the preset flight detection device to move along the path corresponding to the detection path information and counts the movement distance to determine the movement distance information. During the movement of the flight detection device, the acquisition module acquires the identification status information. When the judgment module determines that the state corresponding to the recognition state information is consistent with the preset reading state, the processing module defines the movement distance information as the detection distance information; The judgment module determines whether the value corresponding to the detected distance information is consistent with the preset pipe length; If the judgment module determines that the value corresponding to the detection distance information is consistent with the pipe length, the processing module defines the current position of the flying detection equipment as the normal point, and controls the detection equipment to continue moving along the path corresponding to the detection path information and resets the moving distance information to zero to start counting again. If the judgment module determines that the value corresponding to the detection distance information is inconsistent with the pipe length, the processing module outputs a pipe offset signal. The pipeline deviation determination module is used to determine whether the pipeline is moving towards the flight detection equipment. When the pipeline is moving towards the flight detection equipment, the detection path of the flight detection equipment can be updated. The chip misplacement determination module is used to determine whether there is still pipe offset when the chip is misplaced in the pipe; The pipeline deviation determination module is used to determine whether the pipeline is moving away from the direction of the flight inspection equipment. When the pipeline is moving away from the direction of the flight inspection equipment, the detection path of the flight inspection equipment can be updated. The arc movement determination module is used to determine the specific situation when the flight detection equipment moves in an arc, so as to effectively update the detection path; The accompanying pipeline determination module is used to determine the subsequent pipeline conditions of the offset pipeline to facilitate subsequent operations by staff. The overall offset determination module is used to determine the overall offset of the pipeline so that staff can know whether the currently installed pipeline meets the construction requirements.

7. A smart terminal, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer program is stored that can be loaded by a processor and executed according to any one of claims 1 to 5.

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