Pipe robot communication positioning system for pipe line mapping

Abstract

The application relates to a pipeline robot communication positioning system for pipeline route mapping, which comprises a positioning module for real-time positioning of the position of a pipeline robot; a position information timing input module for real-time input of position information coordinate values t of the pipeline robot obtained by the positioning module; a position information coordinate decomposition module for decomposing the position information coordinate values t of the pipeline robot input by the position information timing input module, decomposing the position information coordinate values into transverse coordinate values t x and longitudinal coordinate values t y ; and a position information acquisition module for interval acquisition of the position information coordinate values t input by the position information timing input module. The whole operation process of the pipeline robot communication positioning system does not involve a huge data processing system, does not involve complex big data algorithms, and has a lower requirement on the investment cost of a software system.

Description

Technical Field

[0001] This invention relates to the field of pipeline route drawing, and in particular to a pipeline robot communication and positioning system for pipeline route drawing. Background Technology

[0002] Pipeline route drawing refers to plotting the route of pipelines on drawings to provide engineers and construction personnel with reference and guidance for pipeline layout and installation. The general steps for pipeline route drawing are: 1. Determine the pipeline layout plan: Based on project and design requirements, determine the pipeline layout plan, including the location, direction, and connection methods of the pipelines; 2. Draw the pipeline direction: Draw the pipeline direction on the drawing, using straight lines, curves, etc., choosing the appropriate method based on the actual situation; 3. Draw pipeline connection points: Mark the pipeline connection points on the pipeline route, i.e., the starting and ending points of the pipeline, as well as the connection points between pipelines; 4. Draw pipeline dimensions: According to design requirements, mark the dimensions of the pipelines on the pipeline route, including the diameter and length; 5. Draw pipeline accessories: Mark the pipeline accessories on the pipeline route, such as valves, flanges, and elbows. 6. Mark the pipe material and pressure rating: Mark the pipe material and pressure rating on the pipeline route to facilitate material procurement and installation by construction personnel; 7. Draw pipe supports and support methods: Mark the pipe supports and support methods on the pipeline route according to design requirements to ensure pipeline stability and safety; 8. Draw pipe elevation: Mark the pipe elevation, i.e., the height of the pipe, on the pipeline route to facilitate pipe installation and adjustment by construction personnel; 9. Draw pipe markings: Mark the pipe markings on the pipeline route, such as pipe number, pipe name, etc., to facilitate project management and maintenance; 10. Complete the drawing: Check whether the drawn pipeline route drawing is complete and accurate.

[0003] When mapping out the layout of pipelines, manually measuring the dimensions of straight and corner sections is extremely time-consuming. Therefore, some pipeline mapping contractors now utilize pipeline robots that navigate inside the pipelines. The mapping process involves tracking the robot's trajectory. For example, Chinese patent application number 202110586288.5 discloses a cable pipeline detection, positioning, and management system. This system uses a cable pipeline detection device to capture images of the inside of the cable pipeline and obtain precise location information, storing this information on a memory card and uploading it to a cloud database. A mini-program displays the uploaded precise location information in map software, drawing a precise trajectory map. Image recognition algorithms are used to identify the captured video footage, intelligently determining any pipeline anomalies.

[0004] The above-mentioned cable or pipeline route drawing system has the problems of large data storage and complex algorithms, which places high demands on the software system and makes it inconvenient to directly provide feedback on the coordinate parameters of different locations of the route. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a pipeline robot communication and positioning system for pipeline route drawing.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A pipeline robot communication and positioning system for pipeline routing includes: The positioning module is used to locate the position of the pipeline robot in real time. The location information timed input module is used to input the coordinate value t of the pipeline robot's location information obtained by the positioning module in real time; The position information coordinate decomposition module is used to decompose the position information coordinate value t of the pipeline robot entered by the position information timed input module, and decompose the position information coordinate value into the horizontal coordinate value t. x and vertical coordinate value t y ; The location information acquisition module is used to periodically acquire the location information coordinate values ​​t entered by the location information timed entry module. The acquisition method is as follows: S1, the horizontal coordinate value t of the location information coordinate value t. x The vertical coordinate value t remains unchanged. y When the changes are continuous, the location information acquisition module acquires the location information coordinate value t at a frequency F1, and obtains multiple location information coordinate values ​​t at the same time. The position corresponding to the location information coordinate value t is set as multiple sampling points of the longitudinal straight pipeline segment, and the location information coordinate value t = t1, t2......tn, where n>1; S2, the vertical coordinate value t of the location information coordinate value t y The horizontal coordinate value t remains unchanged. x When the changes are continuous, the location information acquisition module acquires the location information coordinate value t at a frequency of F2, and obtains multiple location information coordinate values ​​t at the same time. The position corresponding to the location information coordinate value t is set as multiple sampling points of the horizontal straight pipeline segment, and the location information coordinate value t = t1, t2......tn, where n>1; S3, the horizontal coordinate value t of the location information coordinate value t. x When a change inflection point occurs, the location information acquisition module acquires the location information coordinate value t of the horizontal inflection point; S4, the vertical coordinate value t of the location information coordinate value t yWhen a change inflection point occurs, the location information acquisition module acquires the location information coordinate value t of the vertical inflection point.

[0007] Through the above technical solution, the pipeline robot communication and positioning system of this application mainly obtains multiple coordinate values ​​of the longitudinal straight pipeline section at a stable frequency through the position information acquisition module, and at the same time obtains multiple coordinate values ​​of the transverse straight pipeline section at a stable frequency, and obtains the coordinate values ​​of the transverse and longitudinal inflection points of the pipeline section in a timely manner. The position coordinates of each obtained coordinate value can be used as sampling points for pipeline route drawing. After connecting the sampling points, a pipeline route drawing coordinate map can be formed. The pipeline robot moves at a constant speed v in m / s inside the pipeline. The frequencies F1 and F2 are both v = v / second. When v = 3 m / s, frequencies F1 and F2 are both 3 times / second. This means that when the pipeline robot moves at 3 m / s, the position information acquisition module acquires the coordinates of the sampling points inside the pipeline 3 times / second. At this point, the calculated distance between adjacent sampling points inside the pipeline is 1 m (lateral and longitudinal inflection points of the pipeline section are not included in the calculation). Therefore, when the actual length of the pipeline is 1000 m, the communication and positioning system only needs to acquire the coordinates of 1000 sampling points (excluding the lateral and longitudinal inflection points) to draw the pipeline route coordinate map. Connecting these 1000 sampling points directly yields the pipeline route coordinate map. The entire operation does not involve a large data processing system or complex big data algorithms, resulting in lower software system investment costs.

[0008] Furthermore, the pipeline robot communication and positioning system also includes a wiring module, an information transmission module, and a display module. The wiring module is used to connect the coordinate values ​​of multiple sampling points of the longitudinal straight pipeline section to form the longitudinal pipeline line, and to connect the coordinate values ​​of multiple sampling points of the transverse straight pipeline section to form the transverse pipeline line. The longitudinal and transverse pipeline lines are then connected to the transverse and longitudinal inflection points to finally form a pipeline line drawing coordinate diagram. The origin of the pipeline line drawing coordinate diagram is the manually selected physical coordinate.

[0009] Furthermore, the information transmission module sends the coordinate diagram of the pipeline route to the display module, which then displays the coordinate diagram of the pipeline route.

[0010] Furthermore, the positioning module is installed on the pipeline robot, and the positioning module is a positioning sensor.

[0011] Furthermore, frequencies F1 and F2 mean that the position information acquisition module acquires the position information coordinate value t of the sampling point every time the pipeline robot moves 1 meter inside the pipeline.

[0012] Furthermore, the positioning module uses trilateration to locate coordinates, obtains the distances from the unknown node to the three beacon nodes using RSSI values, and calculates the position of the unknown node using these three distance values.

[0013] Furthermore, the positioning algorithm process of the trilateration method is as follows: a. Initialize the beacon point network model; b. Unknown nodes periodically send their own information; c. After receiving the information, each beacon node records the RSSI measurement value of the same unknown node and records its value in the corresponding RSSI array PL; d. Each beacon node uses a Gaussian distribution function to process the RSSI value.

[0014] We choose 0.6 as the critical point, meaning that when the Gaussian distribution function value is greater than 0.6, the corresponding RSSI value is considered a high-probability occurrence; when it is less than or equal to 0.6, the corresponding RSSI value is considered a low-probability random event. The specific formula is as follows: (1) Equation (1) determines the range of RSSI values. Each node selects a value from the RSSI array in step c according to this range and stores it in array PL. The final optimized RSSI value is then: (2) Where n is the number of RSSIs selected after Gaussian screening.

[0015] The beneficial effects of this invention are as follows: The pipeline robot communication and positioning system of this application mainly acquires multiple coordinate values ​​of the longitudinal straight pipeline segment at a stable frequency through the position information acquisition module, and at the same time acquires multiple coordinate values ​​of the transverse straight pipeline segment at a stable frequency, and acquires the coordinate values ​​of the transverse and longitudinal inflection points of the pipeline segment in a timely manner. The position coordinates of each acquired coordinate value can be used as sampling points for pipeline route drawing. After connecting the sampling points, the pipeline route drawing coordinate map can be directly obtained. The entire operation process does not involve a large data processing system or complex big data algorithms, and the investment cost requirements of the software system are low. Attached Figure Description

[0016] Figure 1 This is a schematic diagram illustrating the principle of the present invention; Figure 2This is a schematic diagram illustrating the specific principle of the trilateration method used for positioning in the positioning module of this invention. Figure 3 This is a model diagram of the beacon node portion of the positioning module of this invention, which uses trilateration for positioning. Figure 4 This is a schematic diagram of the pipeline robot used in this invention; Figure 5 This is a top view of the pipeline robot used in this invention; Figure 6 This is a cross-sectional schematic diagram of the pipeline robot used in this invention.

[0017] Explanation of reference numerals in the attached diagram: 1. Positioning module; 2. Location information timed input module; 3. Location information coordinate decomposition module; 4. Location information acquisition module; 5. Wiring module; 6. Information transmission module; 7. Display module; 10. Pipeline robot; 101. Frame; 102. Front drive wheel; 103. Rear drive wheel; 104. Front axle; 105. Rear axle; 106. Front gear; 107. Rear gear; 108. Motor; 109. First chain; 110. Drive gear; 111. Guide gear; 112. Second chain; 113. Battery. Detailed Implementation

[0018] Reference Figure 1 A pipeline robot communication and positioning system for pipeline route drawing, comprising: Positioning module 1 is used to locate the position of pipeline robot 10 in real time; The location information timed input module 2 is used to input the coordinate value t of the pipeline robot 10 in real time from the positioning module; The position information coordinate decomposition module 3 is used to decompose the position information coordinate value t of the pipeline robot 10 entered by the position information timed input module 2, and decompose the position information coordinate value into the horizontal coordinate value t. x and vertical coordinate value t y ; Location information acquisition module 4 is used to periodically acquire the location information coordinate value t entered by location information timed input module 2. The acquisition method is as follows: S1, the horizontal coordinate value t of the location information coordinate value t. x The vertical coordinate value t remains unchanged. y When the changes are continuous, the location information acquisition module 4 acquires the location information coordinate value t at a frequency F1, and obtains multiple location information coordinate values ​​t at the same time. The position corresponding to the location information coordinate value t is set as multiple sampling points of the longitudinal straight pipeline segment, and the location information coordinate value t = t1, t2......tn, where n>1; S2, the vertical coordinate value t of the location information coordinate value t y The horizontal coordinate value t remains unchanged. x When the changes are continuous, the location information acquisition module 4 acquires the location information coordinate value t at a frequency of F2, and obtains multiple location information coordinate values ​​t at the same time. The position corresponding to the location information coordinate value t is set as multiple sampling points of the horizontal straight pipeline segment, and the location information coordinate value t = t1, t2......tn, where n>1; S3, the horizontal coordinate value t of the location information coordinate value t. x When a change inflection point occurs, the position information acquisition module 4 acquires the position information coordinate value t of the horizontal inflection point; S4, the vertical coordinate value t of the location information coordinate value t y When a change inflection point occurs, the location information acquisition module 4 acquires the location information coordinate value t of the vertical inflection point.

[0019] The pipeline robot communication and positioning system of this application mainly acquires multiple coordinate values ​​of the longitudinal straight pipeline segment at a stable frequency through the position information acquisition module, and acquires multiple coordinate values ​​of the transverse straight pipeline segment at a stable frequency. It also acquires the coordinate values ​​of the transverse and longitudinal inflection points of the pipeline segment in a timely manner. The position coordinates of each acquired coordinate value can be used as sampling points for pipeline route drawing. After connecting the sampling points, a coordinate map of pipeline route drawing can be formed. Frequency F1 and frequency F2 mean that the position information acquisition module acquires the coordinate value t of the sampling point every time the pipeline robot moves 1 meter inside the pipeline. The pipeline robot moves at a constant speed v in m / s. Frequency F1 = v / second and frequency F2 = v / second. When v = 3 m / s, frequency F1 = 3 times / second and frequency F2 = 3 times / second. That is, when the pipeline robot's speed inside the pipeline is 3 m / s, the position information acquisition module acquires the coordinate value of the sampling point inside the pipeline at a frequency of 3 times / second. At this time, after calculation... The actual distance between adjacent sampling points inside the pipeline is 1m (lateral and longitudinal inflection points of the pipeline section are not included in the calculation). That is to say, when the actual length of the pipeline is 1000m, in addition to the coordinate values ​​of the lateral and longitudinal inflection points of the pipeline section, the communication positioning system only needs to obtain the coordinate values ​​of 1000 sampling points to draw the pipeline route coordinate map. After connecting these 1000 sampling points, the pipeline route coordinate map can be directly obtained. The entire operation process does not involve a large data processing system or complex big data algorithms, and the investment cost requirements for the software system are low.

[0020] Furthermore, the pipeline robot communication and positioning system also includes a wiring module 5, an information transmission module 6, and a display module 7. The wiring module 5 is used to connect the coordinate values ​​of multiple sampling points of the longitudinal straight pipeline section to form the longitudinal pipeline line, connect the coordinate values ​​of multiple sampling points of the transverse straight pipeline section to form the transverse pipeline line, and connect the longitudinal and transverse pipeline lines to the transverse inflection point and the longitudinal inflection point to finally form a pipeline line drawing coordinate diagram. The origin of the pipeline line drawing coordinate diagram is the manually selected physical coordinate.

[0021] The information transmission module 6 sends the coordinate diagram of the pipeline route drawing to the display module 7, and the display module 7 displays the coordinate diagram of the pipeline route drawing.

[0022] In this embodiment, the positioning module 1 is installed on the pipeline robot 10, and the positioning module 1 is preferably a positioning sensor.

[0023] Furthermore, the positioning module uses trilateration to locate coordinates, obtains the distances from the unknown node to the three beacon nodes using RSSI values, and calculates the position of the unknown node using these three distance values.

[0024] Reference Figure 2 When beacon nodes p1, p2, and p3 receive the positioning signal from the unknown node P, they can obtain the distances d1, d2, and d3 from P1 to P2 to P3 to P based on the RSSI value. Draw circles with P1, p2, and P3 as centers and d1, d2, and d3 as radii respectively. The unknown node can be located through these three circles.

[0025] Taking the equilateral triangle positioning algorithm model as an example: Typically, the sensitive area for indoor RSSI occurs more than 5 meters from the node. Therefore, this paper requires the deployment of beacon nodes to ensure that the unknown node appears within the non-sensitive area of ​​the beacon node. The beacon node distribution model is as follows: Figure 3 ; Divide the indoor space into equilateral triangles with sides of 5 m. Geometrically, regardless of which unknown node sends a signal from which point, the unknown node P must be within the equilateral triangle. Let the distance to the sensitive area inside the room be x. Starting from point D, construct equilateral triangle ADGI, then starting from IG, construct equilateral triangles AIJK, AGFH, and so on until the triangles cover the entire indoor plane. Let the side length of all the triangles be X. Let " be the required number of nodes, then we have... ; This model can reduce the transmission power of each node to -25 dBm; it also shortens the time delay caused by the backoff algorithm in CSMA / CA and avoids energy loss caused by repeated signal transmission. Therefore, the beacon node distribution model can improve positioning accuracy while meeting the requirements of low energy loss and a small number of nodes.

[0026] Furthermore, the positioning algorithm process of the trilateration method is as follows: a. Initialize the beacon point network model; b. Unknown nodes periodically send their own information; c. After receiving the information, each beacon node records the RSSI measurement value of the same unknown node and records its value in the corresponding RSSI array PL; d. Each beacon node uses a Gaussian distribution function to process the RSSI value.

[0027] We choose 0.6 as the critical point, meaning that when the Gaussian distribution function value is greater than 0.6, the corresponding RSSI value is considered a high-probability occurrence; when it is less than or equal to 0.6, the corresponding RSSI value is considered a low-probability random event. The specific formula is as follows: (1) Equation (1) determines the range of RSSI values. Each node selects a value from the RSSI array in step c according to this range and stores it in array PL. The final optimized RSSI value is then: (2) Where n is the number of RSSIs selected after Gaussian screening.

[0028] Furthermore, refer to Figures 4 to 6The pipeline robot 10 used in this invention includes a frame 101, a front drive wheel 102 and a rear drive wheel 103 mounted on the frame 101, a front shaft 104 connected to the front drive wheel 102, and a rear shaft 105 connected to the rear drive wheel 103. A front gear 106 is mounted on the front shaft 104, and a rear gear 107 is mounted on the rear shaft 105. A motor 108 is also mounted on the frame 101. The motor 108 is connected to a drive gear 110 via a first chain 109. Multiple guide gears 111 are provided on one side of the drive gear 110. The guide gear 111, front gear 106, and rear gear 107 are connected by the second chain 112. The frame 101 is also equipped with a battery 113 to provide power to the motor. After the motor 108 is started, the drive gear 110 drives the front gear 106 and rear gear 107 to rotate synchronously through the second chain 112, thereby driving the front drive wheel 102 and the rear drive wheel 103 to rotate. The pipeline robot 10 can then move forward in the pipeline. The positioning module 1 on the pipeline robot 10 can move along with it, thus enabling real-time positioning of the pipeline robot 10.

[0029] In summary, the pipeline robot communication and positioning system of this application mainly acquires multiple coordinate values ​​of the longitudinal straight pipeline segment at a stable frequency through the position information acquisition module 4, and simultaneously acquires multiple coordinate values ​​of the transverse straight pipeline segment at a stable frequency. It also acquires the coordinate values ​​of the transverse and longitudinal inflection points of the pipeline segment in a timely manner. The position coordinates of each acquired coordinate value can be used as sampling points for pipeline route drawing. After connecting the sampling points, the pipeline route drawing coordinate map can be directly obtained. The entire operation process does not involve a large data processing system or complex big data algorithms, and the investment cost requirements for the software system are relatively low.

[0030] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A pipeline robot communication and positioning system for pipeline route drawing, characterized in that: Includes a positioning module for real-time positioning of the pipeline robot; The location information timed input module is used to input the coordinate value t of the pipeline robot's location information obtained by the positioning module in real time; The position information coordinate decomposition module is used to decompose the position information coordinate value t of the pipeline robot entered by the position information timed input module, and decompose the position information coordinate value into a horizontal coordinate value t. x and vertical coordinate value t y ; The location information acquisition module is used to periodically acquire the location information coordinate values ​​t entered by the location information timed input module. The acquisition method is as follows: S1, the horizontal coordinate value t of the position information coordinate value t x The vertical coordinate value t remains unchanged. y When the position information is continuously changing, the position information acquisition module acquires the position information coordinate value t at a frequency F1, and obtains multiple position information coordinate values ​​t at the same time. The position corresponding to the position information coordinate value t is set as multiple sampling points of the longitudinal straight pipeline segment. The position information coordinate value t = t1, t2, ..., tn, where n > 1. S2, the longitudinal coordinate value t of the position information coordinate value t y The horizontal coordinate value t remains unchanged. x When the position information is continuously changing, the position information acquisition module acquires the position information coordinate value t at a frequency of F2, and obtains multiple position information coordinate values ​​t at the same time. The position corresponding to the position information coordinate value t is set as multiple sampling points of the horizontal straight pipeline segment. The position information coordinate value t = t1, t2, ..., tn, where n > 1. S3, the horizontal coordinate value t of the position information coordinate value t x When a change inflection point occurs, the position information acquisition module acquires the position information coordinate value t of the lateral inflection point; S4, the longitudinal coordinate value t of the position information coordinate value t y When a change inflection point occurs, the position information acquisition module acquires the position information coordinate value t of the vertical inflection point.

2. The pipeline robot communication and positioning system for pipeline route drawing according to claim 1, characterized in that, It also includes a wiring module, an information transmission module, and a display module. The wiring module is used to connect the coordinate values ​​of multiple sampling points of the longitudinal straight pipeline segment to form a longitudinal pipeline line, connect the coordinate values ​​of multiple sampling points of the transverse straight pipeline segment to form a transverse pipeline line, and connect the longitudinal pipeline line and the transverse pipeline line to the transverse inflection point and the longitudinal inflection point to finally form a pipeline line drawing coordinate diagram. The origin of the pipeline line drawing coordinate diagram is a manually selected physical coordinate.

3. The pipeline robot communication and positioning system for pipeline route drawing according to claim 2, characterized in that, The information transmission module sends the coordinate diagram of the pipeline route to the display module, and the display module displays the coordinate diagram of the pipeline route.

4. The pipeline robot communication and positioning system for pipeline route drawing according to claim 2, characterized in that, The positioning module is installed on the pipeline robot, and the positioning module is a positioning sensor.

5. The pipeline robot communication and positioning system for pipeline route drawing according to claim 2, characterized in that, The frequencies F1 and F2 mean that the position information acquisition module acquires the position information coordinate value t of the sampling point every time the pipeline robot moves 1 meter inside the pipeline.

6. The pipeline robot communication and positioning system for pipeline route drawing according to claim 5, characterized in that, The pipeline robot moves forward at a constant speed v in m / s inside the pipeline. The frequency F1 = v, and the frequency F2 = v, which is also v in the unit of frequency F2. When v = 3 m / s, the frequency F1 = 3 times / second and the frequency F2 = 3 times / second.

7. The pipeline robot communication and positioning system for pipeline route drawing according to claim 1, characterized in that, The positioning module uses trilateration to locate coordinates, calculates the distances from the unknown node to three beacon nodes using RSSI values, and then calculates the position of the unknown node using these three distance values.

8. The pipeline robot communication and positioning system for pipeline route drawing according to claim 7, characterized in that, The positioning algorithm process of the trilateration method is as follows: a. Initialize the beacon point network model; b. Unknown nodes periodically send their own information; c. After receiving the information, each beacon node records the RSSI measurement value of the same unknown node and records its value in the corresponding RSSI array PL; d. Each beacon node uses a Gaussian distribution function to process the RSSI value.

9. The pipeline robot communication and positioning system for pipeline route drawing according to claim 8, characterized in that, We choose 0.6 as the critical point, meaning that when the Gaussian distribution function value is greater than 0.6, the corresponding RSSI value is considered a high-probability occurrence; when it is less than or equal to 0.6, the corresponding RSSI value is considered a low-probability random event. The specific formula is as follows: （1） Equation (1) determines the range of RSSI values. Each node selects a value from the RSSI array in step c according to this range and stores it in array PL. The final optimized RSSI value is then: (2) Where n is the number of RSSIs selected after Gaussian screening.

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