Pipeline inspection control method and system, electronic equipment and storage medium

Abstract

The invention relates to the technical field of pipeline inspection, and particularly discloses a pipeline inspection control method and system, electronic equipment and a storage medium, and the method comprises the steps: obtaining a to-be-inspected position of a target pipeline according to the detection data of each detection node on the target pipeline, determining a target pipe section to which the to-be-inspected position belongs and a target inspection site; wherein a pipe section is formed between every two adjacent detection nodes; and according to the pipe section type of the target pipe section, determining an inspection robot of a target type, and controlling the inspection robot of the target type arranged at the target inspection site to perform rapid inspection on the to-be-inspected position. According to the invention, the inspection robot can be used for rapid inspection of the pipeline, and the efficiency of pipeline inspection is improved.

Description

Background Art

[0002] With the rapid progress of society and economy, my country's oil and gas pipelines have also entered a stage of rapid development. Faced with the wave of global energy revolution and post-industrial development, the demand for energy Internet and intelligence has brought major challenges and opportunities to this industry. The existing inspection system monitors and analyzes the inspection route and status of the inspectors, and promptly alarms when abnormal conditions are found. For example, in patent document CN114186825A, before the user sets out for inspection, the system inputs the planning instructions, and the system compares the natural gas parameters of each pipeline with the preset normal range. If the parameters exceed the normal range, the system will display the abnormal mark at the corresponding position on the pipeline distribution map, so that the user can understand the location of the abnormal pipeline. According to each abnormal pipeline and the preset constraints, the system will plan an inspection route. For another example, patent document CN116503229A controls the drive module to operate the gas leak inspection device to move according to the monitoring data and distance information, so as to obtain the monitoring data of different locations; and based on the monitoring data of these different locations, a first inspection plan is formulated.

[0003] The existing inspection system has the following shortcomings: the inspection system does not mark the pipe sections in advance and cannot reach the location that needs inspection as quickly as possible; the pipeline inspection is only a single-site, single-direction inspection, the inspection efficiency is low and it cannot effectively detect pipeline faults; the inspection frequency of the inspection system is fixed and it cannot eliminate potential faults in the pipeline in advance.

[0004] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a pipeline inspection control method, system, electronic equipment and storage medium.

[0006] In a first aspect, the present invention provides a pipeline inspection control method, the technical solution of the method is as follows:

[0007] According to the detection data of each detection node on the target pipeline, the position to be inspected of the target pipeline is obtained, and the target pipe section and the target inspection station to which the position to be inspected belongs are determined; wherein each two adjacent detection nodes constitute a pipe section;

[0008] According to the pipe segment type of the target pipe segment, an inspection robot of the target type is determined, and the inspection robot of the target type deployed at the target inspection site is controlled to perform a rapid inspection on the position to be inspected.

[0009] The beneficial effects of a pipeline inspection control method of the present invention are as follows:

[0010] The method of the present invention can utilize the inspection robot to perform rapid inspection on the pipeline, thereby improving the efficiency of pipeline inspection.

[0011] On the basis of the above scheme, a pipeline inspection control method of the present invention can also be improved as follows.

[0012] In an optional manner, the method further includes:

[0013] According to preset constraints, the location distribution of multiple inspection stations of the target pipeline is determined, and at least one type of inspection robot is deployed for each inspection station; wherein the preset constraints are: according to the target pipe segment type of the pipe segment on both sides of each inspection station, the type of inspection robot required for each inspection station is determined, and according to the longest flight time between the inspection robots respectively deployed at each two adjacent inspection stations, the distance between each two adjacent inspection stations is determined.

[0014] In an optional manner, the method further includes:

[0015] The geographic data of the target pipeline is acquired, and each detection node on the target pipeline is determined according to the geographic data.

[0016] In an optional manner, the pipe segment types include: ground detection pipe segments, aerial detection pipe segments and underwater detection pipe segments.

[0017] In an optional manner, the types of inspection robots include: a ground inspection robot for inspecting the ground inspection pipe section, an aerial inspection robot for inspecting the aerial inspection pipe section, and an underwater inspection robot for inspecting the underwater inspection pipe section.

[0018] In an optional manner, the method further includes:

[0019] The inspection robots arranged at the inspection stations on both sides of the position to be inspected are controlled to perform precise inspection on the position to be inspected.

[0020] In the above optional manner, further utilizing the inspection stations on both sides of the fault location to simultaneously and simultaneously conduct precise inspections on the pipeline in opposite directions can more effectively detect pipeline faults.

[0021] In a second aspect, the present invention provides a pipeline inspection control system, the technical solution of which is as follows:

[0022] It includes: a processing module and a control module;

[0023] The processing module is used to obtain the position to be inspected of the target pipeline according to the detection data of each detection node on the target pipeline, and determine the target pipe section and target inspection station to which the position to be inspected belongs; wherein each two adjacent detection nodes constitute a pipe section;

[0024] The control module is used to determine a patrol robot of a target type according to the pipe segment type of the target pipe segment, and control the patrol robot of the target type deployed at the target patrol site to perform a rapid patrol on the position to be patrolled.

[0025] The beneficial effects of a pipeline inspection control system of the present invention are as follows:

[0026] The system of the present invention can utilize the inspection robot to perform rapid inspection on the pipeline, thereby improving the efficiency of pipeline inspection.

[0027] On the basis of the above scheme, the pipeline inspection control system of the present invention can also be improved as follows.

[0028] In an optional manner, the method further includes: a preprocessing module; the preprocessing module is used to:

[0029] According to preset constraints, the location distribution of multiple inspection stations of the target pipeline is determined, and at least one type of inspection robot is deployed for each inspection station; wherein the preset constraints are: according to the target pipe segment type of the pipe segment on both sides of each inspection station, the type of inspection robot required for each inspection station is determined, and according to the longest flight time between the inspection robots respectively deployed at each two adjacent inspection stations, the distance between each two adjacent inspection stations is determined.

[0030] In a third aspect, a technical solution of an electronic device of the present invention is as follows:

[0031] The invention comprises a memory, a processor and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the pipeline inspection control method of the present invention are realized.

[0032] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution:

[0033] Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the pipeline inspection control method of the present invention.

[0034] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0036] Figure 1 A schematic diagram of a flow chart of an embodiment of a pipeline inspection control method of the present invention;

[0037] Figure 2 It is a schematic diagram of pipe section distribution;

[0038] Figure 3 It is a structural schematic diagram of an embodiment of a pipeline inspection control system of the present invention;

[0039] Figure 4 The figure is a schematic structural diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION

[0040] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0041] Figure 1 FIG. 1 is a flow chart of an embodiment of a pipeline inspection control method provided by the present invention, and the method is executed by a cloud platform. Figure 1 As shown, the following steps are included:

[0042] S1. According to the detection data of each detection node on the target pipeline, the position to be inspected of the target pipeline is obtained, and the target pipe section and the target inspection site to which the position to be inspected belongs are determined.

[0043] Among them, the target pipeline is an arbitrarily selected pipeline, and there is no restriction here. The detection node is used to divide the pipe section, and each two adjacent detection nodes constitute a pipe section. Each detection node is equipped with at least one sensor for obtaining the detection data of a certain position or a certain section of the pipeline. The detection data includes but is not limited to: ambient temperature, pipeline flow rate, pipeline pressure, pipeline cracks, etc. The position to be inspected is the location point where the detection data is abnormal. The target pipe section is the pipe section to which the position to be inspected belongs (is located). The target inspection station is the inspection station closest to the position to be inspected.

[0044] S2. Determine a patrol robot of the target type according to the pipe segment type of the target pipe segment, and control the patrol robot of the target type deployed at the target patrol site to perform a rapid patrol inspection on the position to be patrolled.

[0045] The pipe segment types include, but are not limited to, ground detection pipe segments, aerial detection pipe segments, and underwater detection pipe segments. Each pipe segment corresponds to a pipe segment type. For example, the pipe segment type of the target pipe segment is a ground detection pipe segment, an aerial detection pipe segment, or an underwater detection pipe segment. The type of the inspection robot corresponds to the pipe segment type, including a ground inspection robot for inspecting ground detection pipe segments, an aerial inspection robot for inspecting aerial detection pipe segments, and an underwater inspection robot for inspecting underwater detection pipe segments. The inspection robot of the target type is at least one of a ground inspection robot, an aerial inspection robot, and an underwater inspection robot.

[0046] It should be noted that if Figure 2 As shown, the section between detection node 1 and detection node 2 is the ground detection section; the section between detection node 1 and detection node 4 is the aerial detection section; and the section between detection node 2 and detection node 3 is the underwater detection section. The ground inspection robot and the aerial inspection robot can form a ground-to-air inspection robot, and the aerial inspection robot and the underwater inspection robot can form a water-to-air inspection robot. The combined design of the inspection robots improves the inspection endurance and saves the construction cost of the inspection sites. In addition, dividing the pipe sections is equivalent to marking the target pipe sections in sections. By marking the pipe sections in advance, the inspection site can determine the fastest inspection robot or inspection robot combination to reach the location to be inspected.

[0047] Specifically: The cloud platform predicts the pipeline fault location (the location to be inspected) based on the detection data of detection node 1, and it is located between detection node 1 and detection node 2, 1.5 km away from detection node 1. The target inspection site to which the location to be inspected belongs is inspection site A, and the segment type of the target pipe segment to which the location to be inspected belongs is a ground detection pipe segment. The cloud platform sends the above information and the inspection task (control instruction) to inspection site A. Since the aerial inspection robot can complete the inspection of the ground detection pipe segment and the aerial inspection pipe segment, the inspection speed of the aerial inspection robot is greater than the inspection speed of the ground inspection robot, and the location to be inspected is within the endurance range of the aerial inspection robot, therefore, the aerial inspection robot is selected to conduct a rapid inspection of the location to be inspected.

[0048] In an optional manner, the method further includes:

[0049] According to preset constraints, the location distribution of multiple inspection sites of the target pipeline is determined, and at least one type of inspection robot is deployed for each inspection site.

[0050] Among them, the preset constraints are: according to the target pipe section type of the pipe sections on both sides of each inspection station, the type of inspection robot required for each inspection station is determined, and according to the longest flight time between the inspection robots deployed at each two adjacent inspection stations, the distance between each two adjacent inspection stations is determined.

[0051] Specifically: For example, if the pipe sections on both sides of the inspection station are ground inspection pipe sections, then the inspection station only needs to be equipped with ground inspection robots and aerial inspection robots. For another example, if the pipe sections on both sides of the inspection station are underwater inspection pipe sections, then the inspection station only needs to be equipped with aerial inspection robots and underwater inspection robots. For another example, if the pipe sections on both sides of the inspection station are aerial inspection pipe sections, then the inspection station only needs to be equipped with aerial inspection robots.

[0052] More specifically: for example, inspection site A and inspection site B are adjacent. The ground inspection robot deployed at inspection site A has a range of 6km and an inspection speed of 10km / h. The aerial inspection robot has a range of 4km and an inspection speed of 20km / h. Since the ground inspection robot and the aerial inspection robot can form a ground-to-air inspection robot, the farthest inspection distance of inspection site A is 5km. Inspection site B is only equipped with a ground inspection robot with a range of 6km, so the farthest inspection distance of inspection site B is 3km. It can be determined that the maximum distance between inspection site A and inspection site B is 8km.

[0053] In an optional manner, the method further includes:

[0054] The geographic data of the target pipeline is acquired, and each detection node on the target pipeline is determined according to the geographic data.

[0055] The geographic data is the full-length geographic data of the target pipeline. Each detection node on the target pipeline is determined according to the full-length geographic data, thereby dividing the pipeline into multiple sections.

[0056] In an optional manner, the method further includes:

[0057] The inspection robots arranged at the inspection stations on both sides of the position to be inspected are controlled to perform precise inspection on the position to be inspected.

[0058] Specifically: Since the cloud platform predicts that the pipeline fault location (the location to be inspected) is located between detection node 1 and detection node 2 based on the detection data of detection node 1, the fault location is only a predicted result. The fault location may be located in the target pipe section of inspection station B. If only the area near the fault location is inspected, or only the inspection is performed from inspection station A to the fault location, it cannot be ruled out that the fault location is in the target pipe section of inspection station B. Therefore, in this embodiment, after the pipeline is quickly inspected, inspection stations A and inspection stations B on both sides of the fault location simultaneously perform precise inspections on the pipeline in opposite directions. In this embodiment, after the pipeline is quickly inspected, inspection stations on both sides of the fault location (the location to be inspected) simultaneously perform precise inspections on the pipeline in opposite directions, which improves the inspection efficiency and can more effectively detect pipeline faults.

[0059] In addition, it should be noted that: in this embodiment, the inspection frequency can also be determined according to the detection data of each detection node, and the specific formula is: T represents the inspection frequency (in times / week), e represents the natural constant, F represents the number of historical failures, t represents the usage time (in weeks), and R represents the risk level. Indicates rounding up. Specifically: for the target pipe section to which inspection station A belongs, the number of historical failures is 5, the service time is 30 weeks, and the risk level is 1, then the inspection frequency for the target pipe section is 6 times per week. The inspection frequency of the existing inspection method is fixed, and it is not possible to eliminate the hidden dangers of pipeline failures in advance. However, this embodiment adaptively adjusts the inspection frequency according to the number of pipeline failures, service time, and risk level. When the number of pipeline failures is large and the risk level is high, the inspection frequency is increased, so that the hidden dangers of pipeline failures can be eliminated in advance.

[0060] The technical solution of this embodiment can use the inspection robot to quickly inspect the pipeline, thereby improving the efficiency of pipeline inspection.

[0061] Figure 3 FIG. 2 is a schematic diagram showing a structure of an embodiment of a pipeline inspection control system 200 provided by the present invention. Figure 3 As shown, the system 200 includes: a processing module 210 and a control module 220;

[0062] The processing module 210 is used to obtain the position to be inspected of the target pipeline according to the detection data of each detection node on the target pipeline, and determine the target pipe section and target inspection station to which the position to be inspected belongs; wherein each two adjacent detection nodes constitute a pipe section;

[0063] The control module 220 is used to determine a patrol robot of a target type according to the pipe segment type of the target pipe segment, and control the patrol robot of the target type deployed at the target patrol site to perform a rapid patrol on the position to be patrolled.

[0064] In an optional manner, the method further includes: a preprocessing module; the preprocessing module is used to:

[0065] According to preset constraints, the location distribution of multiple inspection stations of the target pipeline is determined, and at least one type of inspection robot is deployed for each inspection station; wherein the preset constraints are: according to the target pipe segment type of the pipe segment on both sides of each inspection station, the type of inspection robot required for each inspection station is determined, and according to the longest flight time between the inspection robots respectively deployed at each two adjacent inspection stations, the distance between each two adjacent inspection stations is determined.

[0066] In an optional manner, the method further includes: an acquisition module; the acquisition module is used to:

[0067] The geographic data of the target pipeline is acquired, and each detection node on the target pipeline is determined according to the geographic data.

[0068] In an optional manner, the pipe segment types include: ground detection pipe segments, aerial detection pipe segments and underwater detection pipe segments.

[0069] In an optional manner, the types of inspection robots include: a ground inspection robot for inspecting the ground inspection pipe section, an aerial inspection robot for inspecting the aerial inspection pipe section, and an underwater inspection robot for inspecting the underwater inspection pipe section.

[0070] In an optional manner, the device further includes: a precise control module; the precise control module is used to:

[0071] The inspection robots arranged at the inspection stations on both sides of the position to be inspected are controlled to perform precise inspection on the position to be inspected.

[0072] The technical solution of this embodiment can use the inspection robot to quickly inspect the pipeline, thereby improving the efficiency of pipeline inspection.

[0073] The above parameters and steps for each module to implement corresponding functions in the pipeline inspection control system 200 of this embodiment can refer to the parameters and steps in the embodiment of the pipeline inspection control method above, and will not be repeated here.

[0074] like Figure 4 As shown, an electronic device 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the electronic device 300 implements any of the above pipeline inspection control methods, specifically:

[0075] The electronic device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein at least one computer program 330 is stored in the one or more memories 310, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the electronic device 300 implements any pipeline inspection control method provided in the above embodiments. Of course, the electronic device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the electronic device 300 may also include other components for implementing device functions, which will not be repeated here.

[0076] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements any of the above-mentioned pipeline inspection control methods.

[0077] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0078] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs any of the above pipeline inspection control methods.

[0079] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0080] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0081] Any combination of one or more computer-readable media can be used. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0082] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A pipeline inspection control method, characterized in that: include: According to the detection data of each detection node on the target pipeline, the position to be inspected of the target pipeline is obtained, and the target pipe section and the target inspection site to which the position to be inspected belongs are determined; wherein each two adjacent detection nodes constitute a pipe section; According to the pipe segment type of the target pipe segment, an inspection robot of the target type is determined, and the inspection robot of the target type deployed at the target inspection site is controlled to perform a rapid inspection on the position to be inspected.

2. The pipeline inspection control method according to claim 1, characterized in that: Also includes: According to preset constraints, the location distribution of multiple inspection stations of the target pipeline is determined, and at least one type of inspection robot is deployed for each inspection station; wherein the preset constraints are: according to the target pipe segment type of the pipe segment on both sides of each inspection station, the type of inspection robot required for each inspection station is determined, and according to the longest flight time between the inspection robots respectively deployed at each two adjacent inspection stations, the distance between each two adjacent inspection stations is determined.

3. The pipeline inspection control method according to claim 1, characterized in that: Also includes: The geographic data of the target pipeline is acquired, and each detection node on the target pipeline is determined according to the geographic data.

4. The pipeline inspection control method according to any one of claims 1 to 3, characterized in that: Pipe section types include: ground detection pipe sections, aerial detection pipe sections and underwater detection pipe sections.

5. The pipeline inspection control method according to claim 4, characterized in that: The types of inspection robots include: a ground inspection robot for inspecting the ground inspection pipe section, an aerial inspection robot for inspecting the aerial inspection pipe section, and an underwater inspection robot for inspecting the underwater inspection pipe section.

6. The pipeline inspection control method according to claim 1, characterized in that: Also includes: The inspection robots arranged at the inspection stations on both sides of the position to be inspected are controlled to perform precise inspection on the position to be inspected.

7. A pipeline inspection control system, characterized in that: include: Processing module and control module; The processing module is used to obtain the position to be inspected of the target pipeline according to the detection data of each detection node on the target pipeline, and determine the target pipe section and target inspection station to which the position to be inspected belongs; wherein each two adjacent detection nodes constitute a pipe section; The control module is used to determine a patrol robot of a target type according to the pipe segment type of the target pipe segment, and control the patrol robot of the target type deployed at the target patrol site to perform a rapid patrol on the position to be patrolled.

8. The pipeline inspection control system according to claim 7, characterized in that: Also includes: Preprocessing module; The pre-processing module is used for: According to preset constraints, the location distribution of multiple inspection stations of the target pipeline is determined, and at least one type of inspection robot is deployed for each inspection station; wherein the preset constraints are: according to the target pipe segment type of the pipe segment on both sides of each inspection station, the type of inspection robot required for each inspection station is determined, and according to the longest flight time between the inspection robots respectively deployed at each two adjacent inspection stations, the distance between each two adjacent inspection stations is determined.

9. An electronic device, characterized in that: The electronic device includes a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the pipeline inspection control method according to any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by the processor, so that the computer-readable storage medium implements the pipeline inspection control method according to any one of claims 1 to 6.

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