Pipe gallery safety inspection method, pipe gallery safety monitoring system and inspection robot

Abstract

The invention relates to the technical field of pipe gallery safety monitoring, and provides a pipe gallery safety inspection method, a pipe gallery safety monitoring system, an inspection robot and electronic equipment. The method comprises the following steps: when an edge service module receives inspection data, sending a first detection instruction to each data acquisition terminal so as to determine a first transmission delay corresponding to each data acquisition terminal; acquiring a moving direction of the inspection robot, determining a first target data acquisition terminal from the data acquisition terminals according to the first transmission time delay and the moving direction, and sending a transmission control instruction to the first target data acquisition terminals to instruct the first target data acquisition terminals to select a target line from respective alternative lines, and the real-time collected data is reported to the edge service module through the target line, and the edge service module analyzes the safety condition in the pipe gallery based on the inspection data and the collected data, so that stable uploading of the collected data is ensured, and the abnormal condition in the pipe gallery can be known in time.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline corridor safety monitoring, and in particular to a pipeline corridor safety inspection method, a pipeline corridor safety monitoring system, an inspection robot and electronic equipment. Background Art

[0002] A power pipeline corridor is an underground tunnel or trench used to centrally lay power cables to solve the problem of laying power lines while reducing the impact on the ground space. A power pipeline corridor can accommodate cables of various voltage levels, including high-voltage and low-voltage cables, as well as communication cables, etc.

[0003] In the normal operation of power cables, the operating environment, the current carried, and the voltage are all key factors affecting their insulation performance. As the cable insulation material gradually ages, the potential operating risks increase. If appropriate measures are not taken in time, this aging may cause insulation breakdown, leading to a series of problems such as ground faults, short circuits, line breaks, and flashovers, seriously affecting the stability and safety of the power system. Therefore, it is particularly important to implement safety inspections of the pipe corridor to understand the status of the cable insulation material and the environmental conditions in the pipe corridor.

[0004] The pipeline corridor inspection robot is widely used to collect relevant monitoring data in the pipeline corridor, and upload the data to the ground monitoring platform through the wireless network. The monitoring platform analyzes the collected data to obtain the environmental conditions in the pipeline corridor and the health status of power facilities such as cables.

[0005] However, since the tunnel is buried underground and the internal environment is complex with many signal interference sources, network fluctuations often occur in actual applications, resulting in data failure to upload in time or data loss, making it impossible for the monitoring platform to obtain timely information about the situation in the tunnel. Summary of the invention

[0006] In order to effectively deal with network fluctuations in the tunnel, ensure the stability of data transmission and timely obtain the situation in the tunnel, the embodiments of the present application provide a tunnel safety inspection method, a tunnel safety monitoring system, an inspection robot and electronic equipment.

[0007] On the one hand, the tunnel safety inspection method provided in the embodiment of the present application is applied to the tunnel safety monitoring system, the system includes an inspection robot and multiple data acquisition terminals installed in the tunnel, wherein the inspection robot includes an edge service module and an inspection control module, the method includes the steps of: responding to a first inspection instruction, the inspection control module determines a first inspection path according to the first inspection instruction, controls the inspection robot to move along the first inspection path, and collects inspection data during the movement and sends it to the edge service module; when the edge service module receives the inspection data, it sends a message to each of the data acquisition terminals. The first detection instruction is sent to the end to determine the first transmission delay corresponding to each of the data acquisition terminals; the moving direction of the inspection robot is obtained, and the first target data acquisition terminal is determined from each of the data acquisition terminals according to the first transmission delay and the moving direction, and a transmission control instruction is sent to each of the first target data acquisition terminals to instruct each of the first target data acquisition terminals to select a target line from their respective alternative lines, and report real-time collected data to the edge service module through the target line; the edge service module analyzes the safety situation in the tunnel based on the inspection data and the collected data reported by each of the data acquisition terminals.

[0008] Based on the above technical solution, by directly installing an edge service module on the inspection robot, timely analysis and processing of the inspection data can be achieved, so that a quick re-inspection can be performed when an abnormality is found, so there is no need to worry about inaccurate monitoring due to the failure to report the inspection data in a timely and complete manner. At the same time, combined with the installation of fixed data acquisition terminals, uninterrupted monitoring of the corridor can be achieved to make up for the limitations of robot inspections. Furthermore, when the edge service module determines that movement has occurred, it will promptly send a control instruction to the first target data acquisition terminal to prompt the first target data acquisition terminal to switch to an alternative route in a timely manner to prevent data loss.

[0009] In one implementation, the method for generating the alternative route includes: determining the effective communication range between the data acquisition terminal and the edge service module; selecting the other data acquisition terminal that is located within the effective communication range and is farthest from the data acquisition terminal as a data transfer node based on the installation positions of the other data acquisition terminals; and constructing the alternative route based on the data transfer node.

[0010] Based on the above technical solution, by determining other data acquisition terminals with the farthest distance within the effective communication range as data transfer nodes, the number of transfer nodes in the data transmission line can be effectively reduced, thereby reducing the transmission load of the data transfer nodes.

[0011] In one implementation, determining the target data acquisition terminal from the data acquisition terminals based on the first transmission delay and the moving direction includes: selecting the data acquisition terminal whose first transmission delay is greater than a preset threshold as a candidate data acquisition terminal; and determining from each of the candidate data acquisition terminals the one whose installation position is opposite to the moving direction as the first target data acquisition terminal.

[0012] In one implementation, the method further includes: determining from each of the candidate data collection terminals the terminal with the same installation position as the moving direction as the second target data collection terminal; the edge service module instructs the second target data collection terminal to report the collected data in real time via a direct connection.

[0013] Based on the above technical solution, by instructing the second target data acquisition terminal to switch to a direct line for communication in a timely manner, the data transmission efficiency can be improved and the load on the data transfer node can be reduced.

[0014] In one implementation, the method also includes: the edge service module performs detection and analysis based on the inspection data and the collection data reported by each data collection terminal, obtains a first analysis result and a second analysis result, and determines the status of each data collection terminal based on the comparison between the first analysis result and the second analysis result.

[0015] Based on the above technical solution, equipment abnormalities can be discovered in time and auxiliary positioning of equipment abnormalities can be achieved.

[0016] In one implementation, the method further includes: when the data collection terminal receives a data message whose destination address points to the edge service module, forwarding the data message based on a current communication line with the edge service module.

[0017] In one implementation, the method also includes: each of the data acquisition terminals actively detects the third transmission delay between itself and the edge service module, and predicts the movement mode of the inspection robot based on the change trend of the third transmission delay, and determines the communication line to be currently used according to the movement mode and the third transmission delay.

[0018] Based on the above technical solution, each data collection terminal can better cope with network fluctuations by actively detecting to determine the current appropriate communication line to ensure stable data transmission.

[0019] Based on the same inventive concept, an embodiment of the present application also provides a pipe gallery safety monitoring system, which includes an inspection robot, a plurality of data acquisition terminals installed in the pipe gallery, and implements the above method.

[0020] A patrol robot comprises a patrol control module and an edge service module, and is used to implement the above method.

[0021] An electronic device comprises a processor, a memory and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction implements the above method when executed by the processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings constituting a part of the present application are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 A schematic diagram of the structure of the inspection robot provided in an embodiment of the present application is shown.

[0025] Figure 2 A schematic diagram of the structure of a pipe gallery safety monitoring system provided in an embodiment of the present application is shown.

[0026] Figure 3 A flow chart of the pipeline corridor safety inspection method provided in an embodiment of the present application is shown.

[0027] Figure 4 A flow chart of a method for generating candidate routes in an embodiment of the present application is shown.

[0028] Figure 5 A flow chart of a method for determining a target data collection terminal in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more, and "first", "second" and various digital numbers are only distinguished for the convenience of description and are not used to limit the scope of the embodiments of the present application.

[0031] The features, structures or characteristics in this application may be combined in one or more embodiments in any suitable manner. In various embodiments of this application, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0032] Some optional features in the embodiments of the present application may be implemented independently in some scenarios without relying on other features to solve corresponding technical problems and achieve corresponding effects. They may also be combined with other features in some scenarios as needed.

[0033] In this application, unless otherwise specified, the same or similar parts between the various embodiments can refer to each other. In the various embodiments of this application, if there is no special description and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships. The implementation methods of this application do not constitute a limitation on the scope of protection of this application.

[0034] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0035] In order to avoid the problem of monitoring data not being able to be reported in time or data being lost due to network problems, an embodiment of the present application provides a patrol robot, a pipe corridor safety monitoring system including the patrol robot, and a pipe corridor safety patrol method to achieve timely analysis and processing of monitoring data.

[0036] Please refer to Figure 1 The inspection robot 11 provided in the embodiment of the present application includes an inspection control module 111, an edge service module 112, a robot power system 113, an inspection data acquisition terminal 114, and a positioning device 115.

[0037] Among them, the inspection control module 111 is used to perform pipeline corridor inspection tasks, communicate with the robot power system 113, the inspection data acquisition terminal 114, and the positioning device 115, and control these components based on the communication connection to ensure that the inspection robot can successfully complete the inspection task.

[0038] The inspection control module 111 is in communication connection with the edge service module 112 , and in the process of executing the inspection task, the inspection data collected by the inspection data collection terminal 114 is sent to the edge service module 112 in real time through the wired network.

[0039] The edge service module 112 is used to analyze the inspection data to determine the health status of the monitored objects, which include key power facilities such as cables, connectors, and switches.

[0040] The edge service module 112 runs on an edge host, and the edge host is fixed on a mounting bracket of the inspection robot.

[0041] A network communication device is also fixed on the mounting bracket, and the edge service module 112 communicates wirelessly with the data acquisition terminals installed in the pipe gallery through the network communication device to receive the collected data reported in real time by each data acquisition terminal.

[0042] The edge service module 112 is also used to analyze the collected data to determine whether the status of the monitoring object corresponding to the data collection terminal is normal.

[0043] Please refer to Figure 2 The pipe gallery safety monitoring system provided in the embodiment of the present application includes: Figure 1 The inspection robot 11, multiple data collection terminals 12 and an early warning platform 13 are shown, wherein multiple data collection terminals 12 are fixedly installed in the pipe gallery, and each data collection terminal 12 is used to collect relevant data of the corresponding monitoring object.

[0044] In one example, the data acquisition terminal 12 can be a temperature sensor, a humidity sensor, a harmful gas sensor, a camera device, etc., which is used to collect temperature, humidity, harmful gas conditions and image data of the monitored object, wherein the monitored object can be power facilities such as cables, connectors, switches, etc., or it can be the environmental conditions in the installation area.

[0045] The data collection terminals 12 can be connected to each other by wired or wireless communication, and can communicate with the edge service module 112 based on a wireless network.

[0046] Each data collection terminal 12 collects relevant monitoring data according to a preset data collection cycle, and reports the collected data to the edge service module 112 in real time.

[0047] The early warning platform 13 is deployed in a cloud server or a monitoring center computer room. The edge service module 112 is connected to the early warning platform 13 in communication. According to the preset upload strategy, the monitoring and analysis results as well as the collected data and the inspection data are reported to the early warning platform 13 so that the early warning platform 13 can respond to and confirm the monitoring and analysis results.

[0048] Based on the above system, the present application embodiment also provides a pipeline corridor safety inspection method, please refer to Figure 3 , the method specifically includes the following steps.

[0049] S301, in response to a first inspection instruction, the inspection control module determines a first inspection path according to the first inspection instruction.

[0050] In implementation, the first inspection instruction can be automatically generated by the inspection control module according to the inspection task cycle preset by the system, or it can be generated by the early warning platform or edge service module. The first inspection instruction carries inspection requirement information, which may include inspection path information or inspection target information.

[0051] After receiving the first inspection instruction, the inspection control module extracts the inspection requirement information and determines the first inspection path according to the inspection requirement information.

[0052] In one example, the inspection control module may directly determine the first inspection path according to the inspection path information in the inspection requirement information.

[0053] In another example, the inspection control module may determine the location of the inspection target according to the inspection target information, and calculate and generate the shortest path to the inspection target based on the current location, and determine it as the first inspection path.

[0054] S302, controlling the inspection robot to move along a first inspection path, and collecting inspection data during the movement and sending the data to the edge service module.

[0055] In implementation, the inspection control module may send a movement control instruction including the first inspection path to the robot power system so that the robot power system can move according to the movement control instruction, thereby controlling the inspection robot to move along the first inspection path.

[0056] The inspection control module can also send data collection instructions to the inspection data collection terminal to collect inspection data on the monitoring objects passed by in the moving path.

[0057] The inspection control module receives the inspection data sent by each inspection data collection terminal, and sends the inspection data to the edge service module in real time through a wired manner.

[0058] It is worth noting that when the inspection control module detects that the communication with the edge service module is disconnected, it can report data directly to the early warning platform through the wireless network.

[0059] When the early warning platform receives the inspection data directly sent by the inspection control module, it can analyze the safety situation in the tunnel based on the inspection data, and determine the communication status of the edge service module according to the communication records with the edge service module. If the edge service module has been disconnected for more than a preset time, the edge service module is checked to determine whether it is online.

[0060] In one example, a detection message may be sent to the edge service module, and whether the edge service module is online may be determined based on whether a response is received normally.

[0061] If the detection result shows that the edge service module is online or the communication status is normal, it is determined that the communication connection between the inspection control module and the edge service module is abnormal.

[0062] If the detection result shows that the edge service module is not online, it is determined that an abnormality occurs in the edge service module.

[0063] The early warning platform generates equipment failure warnings based on specific abnormal information and sends them to operation and maintenance personnel so that they can quickly locate and restore the failure.

[0064] In this way, not only can the problem of not being able to timely obtain the safety status of the tunnel due to edge service module failure or communication failure be avoided, but the fault can also be located to assist operation and maintenance personnel to quickly recover from the fault of the inspection robot.

[0065] S303, when receiving the inspection data, the edge service module sends a first detection instruction to each data collection terminal to determine a first transmission delay corresponding to each data collection terminal.

[0066] S304, obtaining the moving direction of the inspection robot, and determining a first target data collection terminal from each data collection terminal according to the first transmission delay and the moving direction.

[0067] Each data acquisition terminal interacts with the edge service module wirelessly. In actual applications, due to the long length of the pipeline corridor, the wireless network signal of the edge service module cannot cover all data acquisition terminals. At the same time, due to the possible existence of signal interference sources, the communication in the coverage area with weak wireless signals is more unstable. This may cause the edge service module to be unable to normally receive the collected data reported by all data acquisition terminals. Based on this, the embodiment of the present application proposes a method for reporting collected data based on alternative lines to solve the above problems.

[0068] Specifically, each data collection terminal communicates with other adjacent data collection terminals through wired or wireless means to form a data collection network. When reporting collected data, each data collection terminal can choose to send the collected data directly to the edge service module, or send the collected data to the edge service module based on the alternative route in the data collection network. The method for generating the alternative route can refer to Figure 4 , the method specifically includes the following steps.

[0069] S401, determining the effective communication range between the data collection terminal and the edge service module.

[0070] In one example, after each data acquisition terminal is installed, the inspection robot can be controlled to move in the tunnel, and the edge service module can send a second detection instruction to each data acquisition terminal to detect the second transmission delay between each data acquisition terminal and the edge service module, and determine the effective communication range of each data acquisition terminal based on the position information when the second detection instruction is sent.

[0071] Specifically, during the movement, the edge service module sends a second detection instruction to each data acquisition terminal at a preset frequency, and records the location information of sending each second detection instruction. Based on the response of each data acquisition terminal to each second detection instruction, the edge service module determines the second transmission delay corresponding to each second detection instruction, and determines the effective communication range of each data acquisition terminal based on the size of the second transmission delay and the corresponding location information.

[0072] In one example, when the edge service module moves from one end of the tunnel to the other, a full-range delay detection is completed, and all second transmission delays corresponding to each data acquisition terminal are obtained. For each data acquisition terminal, the target second transmission delay closest to the preset delay threshold is selected from all corresponding second transmission delays, and the effective communication distance is determined based on the position information when the second detection instruction corresponding to the target second transmission delay is sent and the distance between the installation positions of the data acquisition terminals, thereby determining the corresponding effective communication range based on the effective communication distance.

[0073] It is worth noting that the data acquisition terminal installed in the middle area of ​​the tunnel needs to determine the effective communication distance on both sides according to the installation position, and thus determine the effective communication range. For example, if the timing sequence of all second transmission delays corresponding to data acquisition node A changes from large to small and then to large, and the maximum values ​​at both ends are greater than the preset delay threshold, it is necessary to determine the second transmission delay closest to the preset delay threshold from the delay interval from large to small and the delay interval from small to large, and then determine the effective communication distance on both sides in combination with the location information.

[0074] S402, according to the installation positions of the other data collection terminals, select other data collection terminals that are within the effective communication range and are farthest from the data collection terminal as data transfer nodes.

[0075] Selecting other data acquisition terminals that are farthest away as data transfer nodes can reduce the number of transfers during data transmission to a certain extent.

[0076] It is worth noting that for the data acquisition terminals including the effective communication distances on both sides, it is necessary to select the transfer nodes on both sides based on the effective communication distances on both sides respectively. Therefore, these data acquisition terminals have two transfer nodes.

[0077] S403, constructing alternative routes based on the data transfer nodes.

[0078] Specifically, the transfer node can be used as the next hop node to forward the collected data, that is, the alternative route is determined to send the collected data to the transfer node and forward it through the transfer node. Correspondingly, the transmission path of the collected data includes sending it to the transfer node, and then the transfer node directly sends it to the edge service module, or after sending it to the transfer node, the transfer node forwards the collected data to its corresponding transfer node, and so on, until it is sent to the edge service module.

[0079] It can be seen that when the transit node receives the collected data sent by other data collection terminals, it will forward the collected data according to the current data transmission path between itself and the edge service module.

[0080] In one example, for each data acquisition terminal, when receiving a data message with a destination address pointing to an edge service module, the data message can be forwarded based on the current communication line between the edge service module, that is, directly sent to the edge service module or forwarded through an alternative line.

[0081] Based on this, a data collection terminal has at least one alternative line, and some data collection terminals have two alternative lines.

[0082] During implementation, when the edge service module receives the inspection data sent by the inspection control module, it indicates that the inspection robot is moving. In order to prevent the loss of collected data due to the failure of each data acquisition terminal to switch to the appropriate communication line in time during the movement of the inspection robot, the edge service module can actively intervene in the communication line of the data acquisition terminal when receiving the inspection data.

[0083] In one example, the edge service module may determine a target data collection terminal from various data collection terminals according to the first transmission delay and the moving direction, wherein the target data collection terminal is a data collection terminal that may need to switch a data reporting line.

[0084] Please refer to Figure 5 , the method for determining the target data acquisition terminal specifically includes the following steps.

[0085] S501, selecting a data collection terminal whose first transmission delay is greater than a preset delay threshold as a candidate data collection terminal.

[0086] Among them, the first transmission delay being greater than the preset delay threshold indicates that the data acquisition terminal is located outside the effective communication range and the communication state may be at risk of being unstable, so it is screened out as a candidate data acquisition terminal.

[0087] S502: Determine, from among the candidate data collection terminals, a terminal whose installation position is opposite to the moving direction as a first target data collection terminal.

[0088] Specifically, the installation position is opposite to the moving direction, which means that the distance between the candidate data collection terminal and the edge service module will become larger and larger, and the risk of data loss will also become larger and larger. Therefore, these candidate data collection terminals are determined as the first target data collection terminals.

[0089] In addition, some of the candidate data collection terminals may have their installation positions in the same direction as the moving direction, which means that the distance between these candidate data collection terminals and the edge service module will become smaller and smaller, and the communication status will become better and better. Therefore, these candidate data collection terminals can be determined as the second target data collection terminals.

[0090] S305: Send a transmission control instruction to each first target data collection terminal to instruct each first target data collection terminal to select a target line from its own candidate lines and report the real-time collection data to the edge service module through the target line.

[0091] As mentioned above, each data acquisition terminal stores at least one alternative line, and some stores two alternative lines. In addition, each data acquisition terminal can also choose to communicate with the edge service module in a direct connection. Therefore, the communication line currently being used by each first target data acquisition terminal may be a direct connection or communication through an alternative line. If the position of the edge service module does not change, the communication state can be maintained at a relatively stable level. However, when the position of the edge service module changes and the moving direction is away from the first target data acquisition terminal, the stability of the communication state is destroyed, and data loss is prone to occur. In this way, the edge service module actively sends a transmission control instruction to instruct the first target data acquisition terminal to select the target line from the alternative lines, and then reports in real time through the target line to ensure the real-time and stability of the reporting of the collected data.

[0092] In one example, the edge service module carries a moving direction identifier in the transmission control instruction so that the first target data collection terminal can determine an alternative route with a forwarding direction consistent with the moving direction as the target route from multiple alternative routes based on the moving direction identifier.

[0093] Correspondingly, the edge service module can also send a transmission control instruction to the second target data acquisition terminal to instruct the second target data acquisition terminal to report the collected data in real time through a direct connection, so as to reduce the data transmission pressure of the transit node and improve the data transmission efficiency to a certain extent.

[0094] S306, the edge service module analyzes the safety situation in the tunnel based on the inspection data and the collected data reported by each data collection terminal.

[0095] During implementation, the edge service module can analyze and calculate the inspection data and collected data according to the preset monitoring algorithm to determine the safety situation in the tunnel based on the analysis results, including the health status of each power facility, the environmental conditions of each key area in the tunnel, etc., and then generate an analysis report and send it to the early warning platform.

[0096] In one example, when the edge service module determines that there is an abnormality in the safety situation in the tunnel, it can promptly report the abnormal information to the early warning platform, and control the inspection robot to move to the nearest signal sending point to report the abnormal information again, thereby ensuring that the abnormal information can be received in time. The signal sending point is a location in the tunnel where the external signal strength meets the requirements determined by pre-testing.

[0097] In actual application, the edge service module can generate corresponding analysis results based on the inspection data and the collected data, namely the first analysis result and the second analysis result, and determine the health status of each data collection terminal based on the comparison between the first analysis result and the second analysis result.

[0098] Specifically, the edge service module can determine the first analysis result and the second analysis result for the same monitored object, and compare them to determine whether they are consistent. If they are inconsistent, a second inspection instruction is generated according to the location area of ​​the monitored object and sent to the inspection control module to instruct the inspection control module to inspect the monitored object again and report the inspection data. At the same time, during the inspection process, the collection data reported by each data collection terminal is synchronously received.

[0099] Then, the collected data related to the monitored object and the inspection data are extracted from each collected data, and then compared and analyzed again. If there is still inconsistency, an abnormal alarm message of the relevant data collection terminal is generated and sent to the early warning platform to notify the operation and maintenance personnel to carry out timely maintenance. If the result shows that all data collection terminals are abnormal, an abnormal alarm message of the inspection robot is generated synchronously and sent to the early warning platform. For example, if the analysis result corresponding to the inspection data indicates that the insulation layer of a certain section of cable has cracks, and the corresponding collected data shows normal, it is determined that the two are inconsistent.

[0100] In this way, by comparing the analysis results of the collected data and the inspection data, the health status of the data collection terminal and the inspection robot can be confirmed, equipment problems can be discovered in time, and reported to the early warning platform for processing.

[0101] Based on the above technical solution, by installing an edge service module on the inspection robot, the edge service module can accurately analyze and monitor the safety situation in the corridor based on the inspection data in a timely manner, thereby avoiding the problem of the inspection data not being able to be reported to the server outside the corridor in a timely and complete manner. At the same time, when an abnormality is found, it can directly send control instructions to the inspection control module to conduct re-inspection or evacuate to a safe area in time.

[0102] At the same time, the inspection control module and the edge service module communicate based on wired mode, ensuring the stability and security of data transmission. In addition, by synchronously combining the collected data of the data acquisition terminal installed in the tunnel, the safety situation in the tunnel can be analyzed to obtain more accurate and comprehensive monitoring results.

[0103] Furthermore, when the edge service module determines that the inspection robot is moving, it actively instructs the target data acquisition terminal to switch the communication line, which can avoid the problem of unstable data transmission caused by the poor network environment in the corridor as much as possible, ensure the normal, timely and complete reporting of the collected data, and provide a good data basis for monitoring and analysis.

[0104] In other embodiments of the present application, the data acquisition terminal can also actively determine the communication line to deal with the problem of unstable data transmission caused by uncontrollable interference factors in the pipeline corridor.

[0105] Specifically, the data collection terminal can automatically select a communication mode according to the third transmission delay between the data collection terminal and the edge service module, that is, direct transmission or communication via an alternative line.

[0106] In one example, each data acquisition terminal can periodically detect the third transmission delay between the edge service module and record the detected third transmission delay. When each new third transmission delay is obtained, the change trend of the third transmission delay can be determined based on the recorded historical third transmission delay, and the communication line to be used currently can be determined based on the change trend.

[0107] In one example, the data acquisition terminal periodically sends a detection packet directly to the edge service module, and determines the third transmission delay based on the sending time of the detection packet and the receiving time of the response packet. It is worth noting that regardless of whether the data acquisition terminal currently reports the collected data through the alternative line, the detection packet is sent to the edge service module in a direct connection. In other words, the third transmission delay obtained by the detection corresponds to the third transmission delay between the data acquisition terminal and the edge service module, not the third transmission delay of the alternative line. Similarly, the above-mentioned first transmission delay and second transmission delay are both transmission delays of the direct connection line.

[0108] After the current third transmission delay is determined, it can be compared with the historical third transmission delay to determine a change trend of the third transmission delay. The change trend includes: gradually decreasing, gradually increasing or relatively stable.

[0109] In one example, a linear analysis may be performed based on the historical third transmission delay and the current third transmission delay to determine the change trend of the third transmission delay according to the slope change trend.

[0110] The movement mode of the inspection robot, i.e., approaching, moving away or staying, is judged based on the changing trend of the third transmission delay. Specifically, when the changing trend of the third transmission delay is gradually decreasing, it indicates that the inspection robot is approaching; when the changing trend is gradually increasing, it indicates that the inspection robot is moving away; and when the changing trend is relatively stable, it indicates that the inspection robot is in a staying state or has a small moving range.

[0111] According to the movement mode of the inspection robot and the third transmission delay, the communication line to be used is determined and compared with the communication line currently in use. If they are consistent, the current communication line continues to be used; if they are inconsistent, the communication line to be used is switched.

[0112] Specifically, when the third transmission delay is less than or equal to the preset delay threshold, the communication line to be currently used is directly determined to be the direct line; when the moving mode is gradually moving away and the third transmission delay is greater than the preset delay threshold, the communication line to be currently used is determined to be an alternative line. If there are two alternative lines, the third transmission delay of each alternative line can be detected to select the alternative line with a smaller third transmission delay as the communication line to be currently used.

[0113] In this way, the data collection terminal can automatically select the communication line, thereby ensuring that the collected data can be successfully received by the edge service module. At the same time, by combining the movement mode of the inspection robot to determine the communication line that should be used currently, the accuracy of the communication route that should be used currently can be effectively guaranteed, and at the same time, it can avoid the misjudgment caused by determining the communication line that should be used currently based solely on the third transmission delay. In addition, when the third transmission delay is less than or equal to the delay threshold, directly using the direct connection method to report the collected data can timely reduce the transmission pressure of the data transfer node.

[0114] Based on the above technical solution, each data acquisition terminal periodically detects the third transmission delay and selects the communication line to be used currently according to the third transmission delay. It can cope with the state where the currently used communication line is inappropriate due to network fluctuations to a large extent, and adjust to the appropriate communication line in time, thereby ensuring the stable transmission of the collected data.

[0115] In addition, an embodiment of the present application also provides an electronic device, which includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements a method as in any one of the implementation methods in the embodiments of the present application; wherein the processor may adopt a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), a graphics processing unit (GPU) or one or more integrated circuits, for executing relevant programs to implement the method implemented by the inspection robot in the embodiments of the present application.

[0116] The processor may also be an integrated circuit electronic device with signal processing capability. In the implementation process, each step of the method in any implementation of the embodiments of the present application may be completed by an integrated logic circuit of hardware in the processor or by instructions in software form.

[0117] The above-mentioned processor can also be a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be combined and executed.

[0118] The software module may be located in a random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register or other mature storage media in the art. The storage medium is located in the memory, and the processor reads the information in the memory, and combines its hardware to complete the functions required to be performed by the units included in the data processing device of the embodiment of the present application, or executes the method in any one of the implementation modes in the embodiment of the present application.

[0119] Those skilled in the art can understand that all or part of the steps in the above-mentioned implementation method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of each implementation method of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0120] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A pipeline corridor safety inspection method, characterized in that: The method is applied to a pipe gallery safety monitoring system, the system comprising a patrol robot and a plurality of data acquisition terminals installed in the pipe gallery, wherein the patrol robot comprises an edge service module and a patrol control module, and the method comprises the steps of: In response to the first inspection instruction, the inspection control module determines a first inspection path according to the first inspection instruction, controls the inspection robot to move along the first inspection path, and collects inspection data during the movement and sends it to the edge service module; When receiving the inspection data, the edge service module sends a first detection instruction to each of the data acquisition terminals to determine the first transmission delay corresponding to each of the data acquisition terminals; obtains the moving direction of the inspection robot, determines the first target data acquisition terminal from each of the data acquisition terminals according to the first transmission delay and the moving direction, and sends a transmission control instruction to each of the first target data acquisition terminals to instruct each of the first target data acquisition terminals to select a target line from their respective alternative lines, and report real-time collection data to the edge service module through the target line; The edge service module analyzes the safety situation in the pipeline corridor based on the inspection data and the collected data reported by each of the data collection terminals.

2. The method according to claim 1, characterized in that The method for generating the candidate routes includes: Determine the effective communication range between the data acquisition terminal and the edge service module; According to the installation positions of the other data acquisition terminals, the other data acquisition terminals that are located within the effective communication range and are farthest from the data acquisition terminal are selected as data transfer nodes; The alternative route is constructed based on the data transfer node.

3. The method according to claim 1, characterized in that Determining a target data collection terminal from the data collection terminals according to the first transmission delay and the moving direction includes: Select the data collection terminal whose first transmission delay is greater than a preset threshold as a candidate data collection terminal; From among the candidate data collection terminals, determine the one whose installation position is opposite to the moving direction as the first target data collection terminal.

4. The method according to claim 3, characterized in that The method further comprises: Determine from each of the candidate data collection terminals the one whose installation position is the same as the moving direction as the second target data collection terminal; The edge service module instructs the second target data collection terminal to report the collected data in real time through a direct connection.

5. The method according to claim 1, characterized in that The method further comprises: The edge service module performs detection and analysis based on the inspection data and the collected data reported by each data collection terminal to obtain a first analysis result and a second analysis result, and determines the status of each data collection terminal based on the comparison between the first analysis result and the second analysis result.

6. The method according to claim 1, characterized in that The method further comprises: When the data collection terminal receives a data message whose destination address points to the edge service module, the data collection terminal forwards the data message based on the current communication line with the edge service module.

7. The method according to claim 1, characterized in that The method further comprises: Each of the data acquisition terminals actively detects the third transmission delay between itself and the edge service module, and predicts the movement mode of the inspection robot based on the change trend of the third transmission delay, and determines the communication line to be currently used according to the movement mode and the third transmission delay.

8. A pipe gallery safety monitoring system, characterized in that: The system includes an inspection robot, a plurality of data acquisition terminals installed in the pipe gallery, and implements the method described in any one of claims 1 to 7.

9. A patrol robot, characterized in that: The inspection robot comprises an inspection control module and an edge service module, and is used to implement the method according to any one of claims 1 to 5.

10. An electronic device, characterized in that: The method comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction implements the method according to any one of claims 1 to 5 when executed by the processor.

Images