Pipeline unmanned aerial vehicle intelligent inspection management method and system

Abstract

The invention relates to a pipeline unmanned aerial vehicle intelligent inspection management method and system, and belongs to the technical field of pipeline unmanned aerial vehicle intelligent inspection, and the system comprises a pipeline geographic model configuration module, an inspection task configuration module, a management and control module and a synchronous correction module. The data collector configures a communication channel for communication with the data server through a communication unit set by the management and control module, and the synchronous correction module couples the security identifier with the synchronous correction unit, so that the synchronous correction unit performs corresponding time label detection on collected data transmitted by the communication channel. And a synchronous verification unit arranged in the synchronous correction module is coupled with the synchronous correction unit and is used for verifying whether the time labels detected by the plurality of synchronous correction units are consistent or not, if so, the transmission of the acquired data is continued through the communication channel, and if not, the synchronous verification unit corrects the reference time of all the communication units.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline drone intelligent inspection, and in particular to a pipeline drone intelligent inspection management method and system. Background Art

[0002] Pipelines play an extremely important role in the transportation of energy such as oil and natural gas, as well as other fluids. Traditional pipeline inspections mainly rely on manpower, which has many disadvantages: High cost: Manual inspections require a lot of manpower, including personnel wages, training, and the use of related equipment and transportation. Limited efficiency: Manual inspections are slow, and it is difficult to complete inspection tasks quickly and comprehensively in complex terrain or large inspection areas, and the accuracy is also easily affected by human factors, such as fatigue and negligence. Safety risks: In some special environments, such as when pipelines pass through dangerous areas (such as swamps, steep slopes in mountainous areas, areas where toxic and harmful gases leak, etc.), there are greater safety risks for staff to conduct inspections, such as encountering natural disasters and exposure to harmful substances.

[0003] With the development of drone technology, its application in pipeline inspection has gradually gained popularity. Drones can not only obtain several sets of different data in one flight, but also analyze these data to obtain some adverse factors in the pipeline and the surrounding environment. However, this technology relies on the consistency of various data obtained at any location. If they are inconsistent, the analysis results obtained from different data cannot be verified with each other. Summary of the invention

[0004] In view of this, the purpose of the present invention is to provide a pipeline drone intelligent inspection management method and system to solve the problems raised in the background technology.

[0005] The main purpose of this application is to provide a pipeline drone intelligent inspection management method, including the following steps: Arrange a plurality of positioning tags on the pipeline at a set interval, obtain geographic information data corresponding to the positioning tags, and embed the positioning tags into the pipeline geographic model with the geographic information data; Configure the pipeline geographic model in the drone and set the inspection tasks according to the positioning tags as the calibration points of the inspection route; The control module configures multiple data collectors in the drone inspection process. The data collectors configure a communication channel for communicating with a data server through a communication unit set by the control module, and receive at least one security identifier from the data server through the communication channel. After the control module verifies the security identifier, the communication unit is synchronously turned on for data transmission. The security identifier and the synchronization correction unit corresponding to the synchronization correction module are coupled so that the synchronization correction unit performs corresponding time tag detection on the collected data transmitted by the communication channel. The synchronization verification unit arranged in the synchronization correction module is coupled with the synchronization correction unit to verify whether the time tags detected by multiple synchronization correction units are consistent. If they are consistent, the collected data continues to be transmitted through the communication channel. If they are inconsistent, the synchronization verification unit corrects the reference time of all communication units.

[0006] Further, the method of configuring multiple data collectors in the inspection process of the unmanned aerial vehicle through the control module includes: connecting a clock chip set in the control module through a reference controller, the reference controller includes multiple configuration components, the configuration components are configured to receive the clock signal of the clock chip, each configuration component is coupled to a data collector correspondingly, and the data collector is initialized so as to synchronously apply the clock timing when the data collector performs data collection, wherein the applied clock timing is based on the time amount generated by the clock signal of the clock chip to represent the time when the data is collected, and the time amount is a state variable representing the data collection process assigned by the configuration component based on the clock signal; The state variable representing the data collection process is used to generate a time tag through a state generator, wherein the time tag is configured to facilitate detection of the collected data during transmission.

[0007] Furthermore, the configuration component sets the clock timing synchronously applied by the data collector to a standard operating mode and a calibration operating mode, wherein, when in the standard operating mode, the state variables representing the data acquisition process of the data collectors assigned by the multiple configuration components are based on the same clock signal as a reference; when in the calibration operating mode, the state variables representing the data acquisition process of the data collectors assigned by the multiple configuration components are initialized and calibrated at a certain moment set in the future, and the clock signal reference obtained by the initialization calibration at a certain moment set in the future is configured to a certain moment set in the future corresponding to the standard operating mode.

[0008] Further, the control module configures a corresponding communication channel for each communication unit, and the communication channel is configured to provide a matching code for verifying the security identifier; A plurality of the communication units are arranged in parallel, and the management and control module is provided with a clock configuration unit for performing clock initialization configuration on the corresponding communication channels matching the plurality of communication units. The clock configuration unit is coupled to a clock chip provided on the management and control module, and configures a register for storing clock parameters for each communication channel through a set configuration program, and couples the register with the clock configuration unit. The clock configuration unit completes the synchronous start-up of the communication unit for data transmission by selecting the clock parameters in the register and performing initialization operations, and enables each communication channel to perform synchronous transmission under the time tag corresponding to the collected data.

[0009] Furthermore, the positioning tag is used to communicate with a drone, and the drone obtains geographic information data of the positioning tag, and automatically controls the flight of the drone according to the inspection route set in the pipeline geographic model corresponding to the geographic information data.

[0010] Furthermore, the data collector at least includes: A camera for capturing images of the pipeline surface; Thermal imager for capturing thermal imaging data of pipelines and areas near pipelines; Laser radar used to obtain three-dimensional information of the pipeline and the surrounding environment near the pipeline; And gas detectors for detecting combustible gases in pipelines and areas near pipelines.

[0011] The present invention also provides a pipeline drone intelligent inspection management system, comprising: A pipeline geographic model configuration module is used to arrange a number of positioning tags on the pipeline at a set interval, obtain geographic information data corresponding to the positioning tags, and embed the positioning tags in the pipeline geographic model with the geographic information data; Inspection task configuration module, used to configure the pipeline geographic model in the drone and set the inspection task according to the positioning tags as the calibration points of the inspection route; A control module is provided in the drone, and multiple data collectors are configured in the drone inspection process through the control module. The data collectors configure a communication channel for communicating with a data server through a communication unit provided in the control module, and receive at least one security identifier from the data server through the communication channel. After the control module verifies the security identifier, the communication unit is synchronously turned on for data transmission; A synchronization correction module is arranged in the UAV and connected to the control module and multiple data collectors. The synchronization correction module couples the security identifier and the synchronization correction unit so that the synchronization correction unit performs corresponding time tag detection on the collected data transmitted by the communication channel. The synchronization verification unit arranged in the synchronization correction module is coupled with the synchronization correction unit to verify whether the time tags detected by multiple synchronization correction units are consistent. If they are consistent, the collected data continues to be transmitted through the communication channel. If they are inconsistent, the synchronization verification unit corrects the reference time of all communication units.

[0012] Furthermore, the control module includes: Clock chip; and a reference controller connected to a clock chip; Wherein, the reference controller comprises: A plurality of configuration components, wherein the configuration components are configured to receive the clock signal of the clock chip, and each configuration component is coupled to a data collector and performs initialization operation on the data collector so as to synchronously apply the clock timing when the data collector performs data collection; wherein the applied clock timing is a time quantity representing the time when the data is collected based on the clock signal of the clock chip, and the time quantity is a state variable representing the data collection process assigned by the configuration component based on the clock signal; The state generator is used to generate a time tag from a state variable representing a data collection process, wherein the time tag is configured to facilitate detection of the collected data during transmission.

[0013] Furthermore, the configuration component sets the clock timing synchronously applied by the data collector to a standard operating mode and a calibration operating mode, wherein, when in the standard operating mode, the state variables representing the data acquisition process of the data collectors assigned by the multiple configuration components are based on the same clock signal as a reference; when in the calibration operating mode, the state variables representing the data acquisition process of the data collectors assigned by the multiple configuration components are initialized and calibrated at a certain moment set in the future, and the clock signal reference obtained by the initialization calibration at a certain moment set in the future is configured to a certain moment set in the future corresponding to the standard operating mode.

[0014] Further, the control module configures a corresponding communication channel for each communication unit, and the communication channel is configured to provide a matching code for verifying the security identifier; A plurality of the communication units are arranged in parallel, and the management and control module is provided with a clock configuration unit for performing clock initialization configuration on the corresponding communication channels matching the plurality of communication units. The clock configuration unit is coupled to a clock chip provided on the management and control module, and configures a register for storing clock parameters for each communication channel through a set configuration program, and couples the register with the clock configuration unit. The clock configuration unit completes the synchronous start-up of the communication unit for data transmission by selecting the clock parameters in the register and performing initialization operations, and enables each communication channel to perform synchronous transmission under the time tag corresponding to the collected data.

[0015] The present application provides a comprehensive solution for efficient and accurate inspection of pipelines using drones. By placing positioning tags on the pipeline, the geographic model of the pipeline is constructed in the drone with its geographic information, thereby setting the inspection route. At the same time, the management and control module configures the data collector so that multiple data collectors can collect data according to the same clock reference and generate time tags for data according to the same clock reference to facilitate the detection of collected data during transmission. At the same time, during the transmission process, the transmission and detection of collected data are also carried out according to the time tags, ensuring the time consistency of different data collectors during the collection and transmission process, thus ensuring that various data are data corresponding to the same time and the same pipeline position, so that in the later analysis, different data can be verified with each other at the same time or the same pipeline position.

[0016] The positioning tags not only plan inspection routes for drones, but also assist drones in automatic flight control through communication with them. The control module is like the central nervous system of the entire inspection system, coordinating the relationship between the data collector, communication unit and data server to ensure that the collected data can be transmitted accurately and efficiently, and can only be transmitted after verification of the security identifier, ensuring the security and reliability of data transmission. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of the method of the present invention; Figure 2 It is a schematic diagram of the framework principle of the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] Reference Figure 1 The present invention provides a pipeline drone intelligent inspection management method, comprising the following steps: Arrange a plurality of positioning tags on the pipeline at a set interval, obtain geographic information data corresponding to the positioning tags, and embed the positioning tags into the pipeline geographic model with the geographic information data; Configure the pipeline geographic model in the drone and set the inspection tasks according to the positioning tags as the calibration points of the inspection route; The control module configures multiple data collectors in the drone inspection process. The data collectors configure a communication channel for communicating with a data server through a communication unit set by the control module, and receive at least one security identifier from the data server through the communication channel. After the control module verifies the security identifier, the communication unit is synchronously turned on for data transmission. The security identifier and the synchronization correction unit corresponding to the synchronization correction module are coupled so that the synchronization correction unit performs corresponding time tag detection on the collected data transmitted by the communication channel. The synchronization verification unit arranged in the synchronization correction module is coupled with the synchronization correction unit to verify whether the time tags detected by multiple synchronization correction units are consistent. If they are consistent, the collected data continues to be transmitted through the communication channel. If they are inconsistent, the synchronization verification unit corrects the reference time of all communication units.

[0020] In the above, a number of positioning tags are arranged on the pipeline at a set interval, and the interval setting can be determined according to the characteristics of the pipeline, the precision requirements of the inspection, etc. For example, if the pipeline is in a complex environment or an accident-prone area, the interval between the positioning tags may be reduced and the sampling points may be increased for more detailed monitoring.

[0021] These positioning tags contain corresponding geographic information data, which may include the relative position relationship between the geographic location coordinates (longitude, latitude, altitude, etc.) and the surrounding landmark features.

[0022] The pipeline geographic model not only contains basic information about the pipeline itself, such as its direction, diameter, and material, but also embeds relevant geographic information such as the surrounding terrain, landforms, and buildings. This helps drones better integrate the actual geographical environment during the inspection process and accurately fly to the set inspection route. For example, if the pipeline passes through a mountainous area, the terrain information in the pipeline geographic model can allow the drone to know the terrain in advance, so as to adjust the flight altitude and speed to avoid collisions with mountains or loss of connection due to signal obstruction.

[0023] Configuring the pipeline geographic model containing the positioning tag information in the drone is equivalent to installing a detailed "map" for the drone, which allows the drone to know the specific location, direction and other key information of the pipeline to be inspected. Set the inspection task according to the positioning tag as the calibration point of the inspection route. This makes the drone's inspection route more accurate. Instead of randomly flying around the pipeline for inspection, it inspects along the set and representative positioning tag points, thereby ensuring full coverage of the pipeline and not missing any areas that may have problems. For example, if the pipeline between positioning tag A and positioning tag B is prone to corrosion, then this section of the route can be set as a key inspection area, and the drone can reduce the flight speed and improve the shooting accuracy in this section.

[0024] In the above, the method for configuring multiple data collectors in the inspection process of the unmanned aerial vehicle through the control module includes: connecting a clock chip set in the control module through a reference controller, the reference controller includes multiple configuration components, the configuration components are configured to receive the clock signal of the clock chip, each configuration component is coupled with a data collector, and the data collector is initialized so as to synchronously apply the clock timing when the data collector performs data collection, wherein the applied clock timing is based on the time amount generated by the clock signal of the clock chip to represent the time when the data is collected, and the time amount is a state variable representing the data collection process assigned by the configuration component based on the clock signal; The state variable representing the data collection process is used to generate a time tag through a state generator, wherein the time tag is configured to facilitate detection of the collected data during transmission.

[0025] The above configuration ensures that the time when each data collector acquires data is consistent and comparable. For example, when several data collectors collect data from a certain area of ​​the pipeline at the same time, they are based on the same clock reference, so that the subsequent analysis of the relationship between these data is more accurate.

[0026] The clock chip set in the control module is connected through the reference controller. Multiple configuration components of the reference controller receive the clock signal of the clock chip and couple with the data collector to perform initialization operations. The purpose of this is to ensure that the data collector applies the clock timing synchronously when collecting data, and can accurately record the amount of time during data collection. This amount of time is assigned to the state variable representing the data collection process based on the clock signal through the configuration component, and the time label is further generated through the state generator to facilitate the detection of the collected data during the transmission process. Careful clock signal management helps to improve the accuracy and synchronization of data collection, which is very critical for subsequent data processing and analysis, especially when studying the time correlation of data. For example, when judging whether there is an abnormality in the temperature change of the pipeline in different time periods, accurate clock synchronization can ensure the reliability of the data.

[0027] Furthermore, the configuration component sets the clock timing synchronously applied by the data collector to a standard operation mode and a calibration operation mode, wherein, when in the standard operation mode, the state variables representing the data collection process assigned by the multiple configuration components to the data collector are based on the same clock signal as a reference; when in the calibration operation mode, the state variables representing the data collection process assigned by the multiple configuration components to the data collector are initialized and calibrated at a certain time set in the future, and the clock signal reference obtained by the initialization calibration at a certain time set in the future is configured to a certain time set in the future corresponding to the standard operation mode. This takes into account factors such as possible drift and error of the clock signal. The clock signal can be continuously corrected through the calibration operation to ensure the time accuracy of the data collected by the data collector. Especially in the case of long-term continuous inspection, this calibration mechanism can effectively prevent data errors caused by clock deviation.

[0028] In the above, the control module configures a corresponding communication channel for each communication unit, and the communication channel is configured to provide a matching code for verifying the security identifier; A plurality of the communication units are arranged in parallel, and the management and control module is provided with a clock configuration unit for performing clock initialization configuration on the corresponding communication channels matching the plurality of communication units. The clock configuration unit is coupled to a clock chip provided on the management and control module, and configures a register for storing clock parameters for each communication channel through a set configuration program, and couples the register with the clock configuration unit. The clock configuration unit completes the synchronous start-up of the communication unit for data transmission by selecting the clock parameters in the register and performing initialization operations, and enables each communication channel to perform synchronous transmission under the time tag corresponding to the collected data.

[0029] To ensure that each communication channel has a stable clock source. You can choose a crystal oscillator, PLL (phase-locked loop), etc. as the clock source. Use a clock distribution chip to distribute the master clock signal to each communication channel. This helps ensure that all channels are clock synchronized. Design a reasonable clock tree structure to minimize clock deviation and jitter. The clock tree can be optimized by adjusting the clock path, using buffers, etc.

[0030] When the program starts, the clock module is initialized and the required clock frequency and division ratio are set. For example, in an embedded system, the clock parameters can be set by configuring registers.

[0031] Implement clock synchronization mechanisms, such as using synchronization protocols (such as IEEE 1588 PTP) to ensure the synchronization of multiple communication channels.

[0032] The following shows how to configure the reference clock for multiple communication channels in an embedded system: / / Initialize the clock module void init_clock() { / / Set the main clock frequency set_main_clock_frequency(50000000); / / 50 MHz / / Configure the clock of communication channel 1 set_channel_clock(1, 10000000); / / 10 MHz / / Configure the clock of communication channel 2 set_channel_clock(2, 10000000); / / 10 MHz } / / Set the main clock frequency void set_main_clock_frequency(uint32_t freq) { / / Configure the main clock register / / ... } / / Set the communication channel clock void set_channel_clock(uint8_t channel, uint32_t freq) { / / Configure the communication channel clock register / / ... } int main() { / / Initialize the clock init_clock(); / / Initialization code / / ... while (1) { / / Main loop } } Furthermore, the positioning tag is used to communicate with a drone, and the drone obtains geographic information data of the positioning tag, and automatically controls the flight of the drone according to the inspection route set in the pipeline geographic model corresponding to the geographic information data.

[0033] Furthermore, the data collector at least includes: A camera for capturing images of the pipeline surface; Thermal imager for capturing thermal imaging data of pipelines and areas near pipelines; Laser radar used to obtain three-dimensional information of the pipeline and the surrounding environment near the pipeline; And gas detectors for detecting combustible gases in pipelines and areas near pipelines.

[0034] The camera can capture images of the pipeline surface to visually check whether there are physical damages such as cracks and scratches on the pipeline surface; the thermal imager can capture thermal imaging data of the pipeline and the area near the pipeline, which is very useful for detecting whether there is a leak inside the pipeline that causes local temperature abnormalities. If there is a leak in a certain part of the pipeline, the thermal imager may show an area with high or low temperature. LiDAR can obtain three-dimensional information about the pipeline and the surrounding environment near the pipeline, such as whether the soil around the pipeline has collapsed or been excavated. The gas detector can detect combustible gases in the pipeline and the area near the pipeline. When an abnormal concentration of combustible gas is detected, it may indicate that there is a leak in the pipeline.

[0035] Reference Figure 2 The present invention also provides a pipeline drone intelligent inspection management system, including: A pipeline geographic model configuration module is used to arrange a number of positioning tags on the pipeline at a set interval, obtain geographic information data corresponding to the positioning tags, and embed the positioning tags in the pipeline geographic model with the geographic information data; Inspection task configuration module, used to configure the pipeline geographic model in the drone and set the inspection task according to the positioning tags as the calibration points of the inspection route; A control module is provided in the drone, and multiple data collectors are configured in the drone inspection process through the control module. The data collectors configure a communication channel for communicating with a data server through a communication unit provided in the control module, and receive at least one security identifier from the data server through the communication channel. After the control module verifies the security identifier, the communication unit is synchronously turned on for data transmission; A synchronization correction module is arranged in the UAV and connected to the control module and multiple data collectors. The synchronization correction module couples the security identifier and the synchronization correction unit so that the synchronization correction unit performs corresponding time tag detection on the collected data transmitted by the communication channel. The synchronization verification unit arranged in the synchronization correction module is coupled with the synchronization correction unit to verify whether the time tags detected by multiple synchronization correction units are consistent. If they are consistent, the collected data continues to be transmitted through the communication channel. If they are inconsistent, the synchronization verification unit corrects the reference time of all communication units.

[0036] Furthermore, the control module includes: Clock chip; and a reference controller connected to a clock chip; Wherein, the reference controller comprises: A plurality of configuration components, wherein the configuration components are configured to receive the clock signal of the clock chip, and each configuration component is coupled to a data collector and performs initialization operation on the data collector so as to synchronously apply the clock timing when the data collector performs data collection; wherein the applied clock timing is a time quantity representing the time when the data is collected based on the clock signal of the clock chip, and the time quantity is a state variable representing the data collection process assigned by the configuration component based on the clock signal; The state generator is used to generate a time tag from a state variable representing a data collection process, wherein the time tag is configured to facilitate detection of the collected data during transmission.

[0037] Furthermore, the configuration component sets the clock timing synchronously applied by the data collector to a standard operating mode and a calibration operating mode, wherein, when in the standard operating mode, the state variables representing the data acquisition process of the data collectors assigned by the multiple configuration components are based on the same clock signal as a reference; when in the calibration operating mode, the state variables representing the data acquisition process of the data collectors assigned by the multiple configuration components are initialized and calibrated at a certain moment set in the future, and the clock signal reference obtained by the initialization calibration at a certain moment set in the future is configured to a certain moment set in the future corresponding to the standard operating mode.

[0038] Further, the control module configures a corresponding communication channel for each communication unit, and the communication channel is configured to provide a matching code for verifying the security identifier; A plurality of the communication units are arranged in parallel, and the management and control module is provided with a clock configuration unit for performing clock initialization configuration on the corresponding communication channels matching the plurality of communication units. The clock configuration unit is coupled to a clock chip provided on the management and control module, and configures a register for storing clock parameters for each communication channel through a set configuration program, and couples the register with the clock configuration unit. The clock configuration unit completes the synchronous start-up of the communication unit for data transmission by selecting the clock parameters in the register and performing initialization operations, and enables each communication channel to perform synchronous transmission under the time tag corresponding to the collected data.

[0039] The present application provides a comprehensive solution for efficient and accurate inspection of pipelines using drones. By placing positioning tags on the pipeline, the geographic model of the pipeline is constructed in the drone with its geographic information, thereby setting the inspection route. At the same time, the management and control module configures the data collector so that multiple data collectors can collect data according to the same clock reference and generate time tags for data according to the same clock reference to facilitate the detection of collected data during transmission. At the same time, during the transmission process, the transmission and detection of collected data are also carried out according to the time tags, ensuring the time consistency of different data collectors during the collection and transmission process, thus ensuring that various data are data corresponding to the same time and the same pipeline position, so that in the later analysis, different data can be verified with each other at the same time or the same pipeline position.

[0040] The positioning tags not only plan inspection routes for drones, but also assist drones in automatic flight control through communication with them. The control module is like the central nervous system of the entire inspection system, coordinating the relationship between the data collector, communication unit and data server to ensure that the collected data can be transmitted accurately and efficiently, and can only be transmitted after verification of the security identifier, ensuring the security and reliability of data transmission.

[0041] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. Pipeline UAV intelligent inspection management method, characterized in that: The steps include: Arrange a plurality of positioning tags on the pipeline at a set interval, obtain geographic information data corresponding to the positioning tags, and embed the positioning tags into the pipeline geographic model with the geographic information data; Configure the pipeline geographic model in the drone and set the inspection tasks according to the positioning tags as the calibration points of the inspection route; The control module configures multiple data collectors in the drone inspection process. The data collectors configure a communication channel for communicating with a data server through a communication unit set by the control module, and receive at least one security identifier from the data server through the communication channel. After the control module verifies the security identifier, the communication unit is synchronously turned on for data transmission. The security identifier and the synchronization correction unit corresponding to the synchronization correction module are coupled so that the synchronization correction unit performs corresponding time tag detection on the collected data transmitted by the communication channel. The synchronization verification unit arranged in the synchronization correction module is coupled with the synchronization correction unit to verify whether the time tags detected by multiple synchronization correction units are consistent. If they are consistent, the collected data continues to be transmitted through the communication channel. If they are inconsistent, the synchronization verification unit corrects the reference time of all communication units.

2. The pipeline drone intelligent inspection management method according to claim 1 is characterized in that: The method of configuring multiple data collectors during the drone inspection process through the control module includes: A clock chip provided in the control module is connected via a reference controller, the reference controller includes a plurality of configuration components, the configuration components are configured to receive a clock signal of the clock chip, each configuration component is coupled to a data collector correspondingly, and performs an initialization operation on the data collector so as to synchronously apply a clock timing when the data collector performs data collection, wherein the applied clock timing is a time amount representing when data is collected based on the clock signal of the clock chip, and the time amount is a state variable representing a data collection process assigned by the configuration component based on the clock signal; The state variable representing the data collection process is used to generate a time tag through a state generator, wherein the time tag is configured to facilitate detection of the collected data during transmission.

3. The pipeline drone intelligent inspection management method according to claim 2 is characterized in that: The configuration component sets the clock timing synchronously applied by the data collector to a standard operation mode and a calibration operation mode, wherein, when in the standard operation mode, the state variables representing the data acquisition process of the data collectors assigned by the multiple configuration components are based on the same clock signal as a reference; when in the calibration operation mode, the state variables representing the data acquisition process of the data collectors assigned by the multiple configuration components are initialized and calibrated at a certain moment set in the future, and the clock signal reference obtained by the initialization calibration at a certain moment set in the future is configured to a certain moment set in the future corresponding to the standard operation mode.

4. The pipeline drone intelligent inspection management method according to claim 1 is characterized in that: The control module configures a corresponding communication channel for each communication unit, wherein the communication channel is configured to provide a matching code for verifying the security identifier; A plurality of the communication units are arranged in parallel, and the management and control module is provided with a clock configuration unit for performing clock initialization configuration on the corresponding communication channels matching the plurality of communication units. The clock configuration unit is coupled to a clock chip provided on the management and control module, and configures a register for storing clock parameters for each communication channel through a set configuration program, and couples the register with the clock configuration unit. The clock configuration unit completes the synchronous start-up of the communication unit for data transmission by selecting the clock parameters in the register and performing initialization operations, and enables each communication channel to perform synchronous transmission under the time tag corresponding to the collected data.

5. The pipeline drone intelligent inspection management method according to claim 1 is characterized in that: The positioning tag is used to communicate with the drone, and the drone obtains the geographic information data of the positioning tag and automatically controls the flight of the drone according to the inspection route set in the pipeline geographic model corresponding to the geographic information data.

6. The pipeline drone intelligent inspection management method according to claim 1 is characterized in that: The data collector at least comprises: A camera for capturing images of the pipeline surface; Thermal imager for capturing thermal imaging data of pipelines and areas near pipelines; Laser radar used to obtain three-dimensional information of the pipeline and the surrounding environment near the pipeline; And gas detectors for detecting combustible gases in pipelines and areas near pipelines.

7. Pipeline UAV intelligent inspection management system, characterized by: include: A pipeline geographic model configuration module is used to arrange a number of positioning tags on the pipeline at a set interval, obtain geographic information data corresponding to the positioning tags, and embed the positioning tags in the pipeline geographic model with the geographic information data; Inspection task configuration module, used to configure the pipeline geographic model in the drone and set the inspection task according to the positioning tags as the calibration points of the inspection route; A control module is provided in the drone, and multiple data collectors are configured in the drone inspection process through the control module. The data collectors configure a communication channel for communicating with a data server through a communication unit provided in the control module, and receive at least one security identifier from the data server through the communication channel. After the control module verifies the security identifier, the communication unit is synchronously turned on for data transmission; A synchronization correction module is arranged in the UAV and connected to the control module and multiple data collectors. The synchronization correction module couples the security identifier and the synchronization correction unit so that the synchronization correction unit performs corresponding time tag detection on the collected data transmitted by the communication channel. The synchronization verification unit arranged in the synchronization correction module is coupled with the synchronization correction unit to verify whether the time tags detected by multiple synchronization correction units are consistent. If they are consistent, the collected data continues to be transmitted through the communication channel. If they are inconsistent, the synchronization verification unit corrects the reference time of all communication units.

8. The pipeline drone intelligent inspection management system according to claim 7 is characterized in that: The control module includes: Clock chip; and a reference controller connected to a clock chip; Wherein, the reference controller comprises: A plurality of configuration components, wherein the configuration components are configured to receive the clock signal of the clock chip, and each configuration component is coupled to a data collector and performs initialization operation on the data collector so as to synchronously apply the clock timing when the data collector performs data collection; wherein the applied clock timing is a time quantity representing the time when the data is collected based on the clock signal of the clock chip, and the time quantity is a state variable representing the data collection process assigned by the configuration component based on the clock signal; The state generator is used to generate a time tag from a state variable representing a data collection process, wherein the time tag is configured to facilitate detection of the collected data during transmission.

9. The pipeline drone intelligent inspection management system according to claim 8 is characterized in that: The configuration component sets the clock timing synchronously applied by the data collector to a standard operation mode and a calibration operation mode, wherein, when in the standard operation mode, the state variables representing the data acquisition process of the data collectors assigned by the multiple configuration components are based on the same clock signal as a reference; when in the calibration operation mode, the state variables representing the data acquisition process of the data collectors assigned by the multiple configuration components are initialized and calibrated at a certain moment set in the future, and the clock signal reference obtained by the initialization calibration at a certain moment set in the future is configured to a certain moment set in the future corresponding to the standard operation mode.

10. The pipeline drone intelligent inspection management system according to claim 7 is characterized in that: The control module configures a corresponding communication channel for each communication unit, wherein the communication channel is configured to provide a matching code for verifying the security identifier; A plurality of the communication units are arranged in parallel, and the management and control module is provided with a clock configuration unit for performing clock initialization configuration on the corresponding communication channels matching the plurality of communication units. The clock configuration unit is coupled to a clock chip provided on the management and control module, and configures a register for storing clock parameters for each communication channel through a set configuration program, and couples the register with the clock configuration unit. The clock configuration unit completes the synchronous start-up of the communication unit for data transmission by selecting the clock parameters in the register and performing initialization operations, and enables each communication channel to perform synchronous transmission under the time tag corresponding to the collected data.

Images