Control method of pipeline crawling robot based on signal transmission optimization

Abstract

The present invention discloses a pipeline crawling robot control method based on signal transmission optimization, aiming to improve the signal transmission quality and control accuracy of the robot in the pipeline. First, the real-time path and environmental information of the pipeline crawling robot is obtained, and a dynamic force diagram of the transmission line is drawn; then, the change in signal transmission quality is evaluated according to the diagram, and the change trend of future transmission quality is predicted; by obtaining the signal transmission amount information in real time, the transmission quality threshold is determined, and the signal transmission scheme is optimized according to the prediction results. Finally, the robot is subjected to signal transmission and control operations according to the optimization scheme, the operation data is obtained, the control accuracy is judged, and precise calibration is performed. This method effectively improves the signal transmission quality and control accuracy of the pipeline crawling robot, and improves its working stability and efficiency in complex environments.

Description

Technical Field

[0001] The present invention relates to the technical field of signal transmission, and in particular to a pipeline crawling robot control method based on signal transmission optimization. Background Art

[0002] With the increasing demand for pipeline inspection and maintenance in modern industry, environmental protection, urban construction and other fields, traditional pipeline inspection and maintenance methods face many challenges. Pipelines often have complex structures, such as bends, branches, interfaces, etc. Traditional manual inspection methods cannot go deep into the pipeline for comprehensive inspection, and manual operation is time-consuming, labor-intensive and inefficient. In order to solve this problem, pipeline endoscopes came into being. They use cameras to capture the internal conditions of the pipeline in real time and transmit them to the ground terminal, so that staff can understand the internal conditions of the pipeline in a timely manner, especially when the pipeline is blocked or has other faults.

[0003] However, due to its own size and rigidity, pipeline endoscopes are often limited in complex pipeline environments, making it difficult to complete long-term, large-scale in-depth inspections, especially when the pipeline is blocked and unable to break through the obstacles to reach the blockage point. At this time, robotic technology is needed to clean and maintain the pipeline. Pipeline crawling robots came into being, with autonomous crawling capabilities, and can perform tasks in complex pipeline environments.

[0004] Most of the current pipeline crawling robots rely on wireless control or simple wired control systems, but in pipelines, especially in tortuous and complex pipelines, the signal transmission quality is often affected, resulting in instability of the robot control signal and affecting its normal operation. Especially when the pipeline is blocked or other obstacles occur, the quality of signal transmission and control accuracy are more difficult to guarantee. Therefore, how to optimize the signal transmission quality of pipeline crawling robots and ensure their stable operation in complex pipelines has become a difficult problem in current technology.

[0005] The present invention aims to solve this problem and proposes a pipeline crawling robot control method based on signal transmission optimization. By evaluating and optimizing the stress conditions of the transmission line and the signal transmission quality, the working efficiency and accuracy of the robot in complex pipelines are improved, ensuring that it can successfully complete pipeline inspection and maintenance tasks. Summary of the invention

[0006] In order to solve at least one of the above technical problems, the present invention proposes a pipeline crawling robot control method based on signal transmission optimization.

[0007] A first aspect of the present invention provides a pipeline crawling robot control method based on signal transmission optimization, comprising:

[0008] Acquire real-time crawling path information and pipeline environment information of the pipeline crawling robot, and draw a dynamic force diagram of the transmission line of the pipeline crawling robot in a preset time period according to the real-time crawling path information and pipeline environment information;

[0009] According to the transmission line dynamic force diagram, the signal transmission quality of the pipeline crawling robot is evaluated to obtain a signal transmission quality change evaluation result;

[0010] Determine the quality change characteristics of the signal transmission of the pipeline crawling robot according to the signal transmission quality change evaluation result, and predict the transmission quality in a future preset time period according to the transmission quality change characteristics to obtain a transmission quality change prediction result;

[0011] Acquire the signal transmission amount information of the pipeline crawling robot in real time, determine the signal transmission quality threshold according to the signal transmission amount information, optimize the signal transmission of the pipeline crawling robot according to the transmission quality change prediction result and the signal transmission quality threshold, and obtain a signal transmission optimization plan;

[0012] According to the signal transmission optimization scheme, signal transmission and control operations are performed on the pipeline crawling robot, operation data of the pipeline crawling robot is obtained, control accuracy is determined according to the operation data, and control calibration is performed according to the control accuracy.

[0013] In this solution, the real-time crawling path information and pipeline environment information of the pipeline crawling robot are obtained, and a dynamic force diagram of the transmission line of the pipeline crawling robot in a preset time period is drawn according to the real-time crawling path information and pipeline environment information, specifically:

[0014] Acquire the real-time crawling path information of the pipeline crawling robot according to the real-time operation data of the pipeline crawling robot, and acquire the pipeline environment information based on the endoscope carried by the pipeline crawling robot;

[0015] Obtaining roughness information of the inner wall of the pipeline and traction information of the pipeline crawling robot, and determining the curvature and slope changes at various positions of the pipeline according to the real-time crawling path information;

[0016] A force model of the transmission line is constructed based on a finite element analysis method, and the friction force of the force model of the transmission line at different positions in the pipeline is calculated according to the roughness information, curvature and slope changes;

[0017] Performing a force analysis on a force model of the transmission line according to the traction force information and the friction force of the transmission line at different positions in the pipeline to determine the force state of the transmission line at each position in the pipeline;

[0018] According to the pipeline environment information, pipeline obstacles are identified, and the shape and size information of the obstacles are obtained. According to the shape and size information, the force state of the force model at each position in the pipeline is adjusted, and according to the adjusted force model, a dynamic force schematic diagram of the transmission line in a preset time period during the real-time crawling process of the pipeline crawling robot is drawn.

[0019] In this solution, the signal transmission quality of the pipeline crawling robot is evaluated according to the transmission line dynamic force diagram to obtain the signal transmission quality change evaluation result, which is specifically:

[0020] Acquire a transmission line sample of the pipeline crawling robot, perform different force strength tests on the transmission line sample, construct original test transmission signal data, perform signal test transmission on the transmission line sample during the force strength test according to the original test transmission signal data, and acquire test transmission signal data;

[0021] Comparing the original test transmission signal data with the test transmission signal data, calculating the Euclidean distance between the original test transmission signal data and the test transmission signal data, and determining the difference between the original test transmission signal data and the test transmission signal data according to the Euclidean distance;

[0022] Determine the degree of signal distortion of the transmission line sample when transmitting signals under different force intensities according to the difference, evaluate the signal transmission quality according to the signal distortion degree, and obtain signal transmission quality information under different force intensities;

[0023] Determine the influence of different stress states of the transmission line on the signal transmission quality according to the signal transmission quality information under different stress intensities, and obtain the influence data;

[0024] The signal transmission quality of the pipeline crawling robot is evaluated on the transmission line dynamic force diagram according to the influencing data to obtain a signal transmission quality change evaluation result.

[0025] In this solution, the quality change characteristics of the signal transmission of the pipeline crawling robot are determined according to the signal transmission quality change evaluation result, and the transmission quality of the future preset time period is predicted according to the transmission quality change characteristics to obtain the transmission quality change prediction result, which is specifically:

[0026] Constructing a sliding window of a preset size, setting a moving step length of the sliding window, and calculating the average signal transmission quality of the signal transmission quality change evaluation result in each sliding window according to the sliding window and the moving step length to obtain signal transmission quality average value change data;

[0027] Determine the change trend of the signal transmission quality change evaluation result in each time period according to the signal transmission quality average value change data to obtain the quality change characteristics;

[0028] Construct a transmission quality change prediction model based on the LSTM algorithm, and set the input layer, LSTM layer, output layer, loss function, and hyperparameters of the transmission quality change prediction model;

[0029] Converting the quality change characteristics into time series data, importing the time series data into the transmission quality change prediction model for training, and optimizing the model parameters;

[0030] The signal transmission quality change characteristic data of the crawling robot in the current preset time period is obtained, and the signal transmission quality change characteristic data is imported into the transmission quality change prediction model to predict the transmission quality in the future preset time period to obtain the transmission quality change prediction result.

[0031] In this solution, the signal transmission amount information of the pipeline crawling robot is obtained in real time, the signal transmission quality threshold is determined according to the signal transmission amount information, and the signal transmission of the pipeline crawling robot is optimized according to the transmission quality change prediction result and the signal transmission quality threshold, so as to obtain a signal transmission optimization solution, which is specifically:

[0032] Acquire the signal transmission amount information of the pipeline crawling robot in real time, acquire the signal transmission capacity information of different signal transmission qualities, analyze the signal transmission amount according to the signal transmission capacity information, and determine the signal transmission quality threshold of the pipeline crawling robot transmission line for real-time signal transmission;

[0033] A signal buffer area of ​​the pipeline crawling robot is constructed, the signal transmission quality threshold is matched with the transmission quality change prediction result, a time period in a future preset time period in which the transmission quality is greater than the signal transmission quality threshold is marked as a type of transmission time period, the signal to be transmitted of the pipeline crawling robot is imported into the signal buffer area, and the signal in the signal buffer area is transmitted according to the type of transmission time period, and the operator is prompted with the control lag time of the crawling robot, so as to obtain a first signal transmission optimization scheme;

[0034] According to the transmission quality change prediction result, if there is no type of transmission time period in the future preset time period, convert the signal to be transmitted into a character format based on the ASCII code to obtain a character format transmission signal, count the probability of each character appearing in the character format transmission signal, and construct a character probability table;

[0035] Constructing a Huffman tree according to the character probability table, generating a Huffman code for each character according to the Huffman tree, compressing the character format transmission signal according to the Huffman code to obtain compressed data of the signal to be transmitted, and obtaining signal transmission amount information of the compressed data of the signal to be transmitted;

[0036] Analyze the signal transmission volume information of the signal compressed data to be transmitted according to the signal transmission capability information to determine a second signal transmission quality threshold;

[0037] Matching the second signal transmission quality threshold with the transmission quality change prediction result, marking the time period in the future preset time period when the transmission quality is greater than the second signal transmission quality threshold as the second type of transmission time period, importing the compressed data of the signal to be transmitted into the signal buffer area, and transmitting the compressed data of the signal to be transmitted according to the second type of transmission time period to obtain a second signal transmission optimization plan;

[0038] If there is still no second-class transmission time period within the future preset time period, the compressed data of the signal to be transmitted is segmented, and the transmission time of the data segments is determined to obtain a third signal transmission optimization solution.

[0039] In this solution, if there is still no second type of transmission time period in the future preset time period, the compressed data of the transmission signal is segmented, the transmission time of the data segment is determined, and the third signal transmission optimization solution is obtained, which is specifically:

[0040] If there is still no second-class transmission time period in the future preset time period, determine the signal transmission capacity change information of the pipeline crawling robot in the future preset time period according to the signal transmission capacity information and the transmission quality change prediction result;

[0041] Determine the change information of the amount of data that can be transmitted by the pipeline crawling robot within a preset time period in the future according to the signal transmission capacity change information;

[0042] Determine the amount of data that can be transmitted for each preset time step in a future preset time period according to the information on the change in the amount of data that can be transmitted;

[0043] Determine the data length of the compressed data of the to-be-transmitted signal for data segmentation based on the amount of transmittable data of each preset time step;

[0044] Segment the compressed data of the signal to be transmitted according to the data length, establish a one-to-one correspondence between the data segments and the amount of transmittable data of each preset time step, and determine the time period of the preset time step to which each data segment belongs;

[0045] Each data segment is imported into the buffer area, and each data segment is transmitted according to the time period to obtain a third signal transmission optimization solution.

[0046] In this solution, the signal transmission and control operation are performed on the pipeline crawling robot according to the signal transmission optimization solution, the operation data of the pipeline crawling robot is obtained, the control accuracy is determined according to the operation data, and the control calibration is performed according to the control accuracy, specifically:

[0047] Performing signal transmission and control operations on the pipeline crawling robot according to the signal transmission optimization scheme to obtain operation data of the pipeline crawling robot;

[0048] Acquiring control instruction data of the pipeline crawling robot according to the signal transmission optimization scheme, comparing the control instruction data with the operation data, and determining the operation deviation of the pipeline crawling robot and the control instruction;

[0049] The control accuracy of the pipeline crawling robot is determined according to the operation deviation. If the control accuracy is less than a preset value, the pipeline crawling robot is controlled and calibrated according to the operation deviation.

[0050] The second aspect of the present invention further provides a pipeline crawling robot control system based on signal transmission optimization, the system comprising: a memory, a processor, the memory comprising a pipeline crawling robot control method program based on signal transmission optimization, the pipeline crawling robot control method program based on signal transmission optimization when executed by the processor, implements the following steps:

[0051] Acquire real-time crawling path information and pipeline environment information of the pipeline crawling robot, and draw a dynamic force diagram of the transmission line of the pipeline crawling robot in a preset time period according to the real-time crawling path information and pipeline environment information;

[0052] According to the transmission line dynamic force diagram, the signal transmission quality of the pipeline crawling robot is evaluated to obtain a signal transmission quality change evaluation result;

[0053] Determine the quality change characteristics of the signal transmission of the pipeline crawling robot according to the signal transmission quality change evaluation result, and predict the transmission quality in a future preset time period according to the transmission quality change characteristics to obtain a transmission quality change prediction result;

[0054] Acquire the signal transmission amount information of the pipeline crawling robot in real time, determine the signal transmission quality threshold according to the signal transmission amount information, optimize the signal transmission of the pipeline crawling robot according to the transmission quality change prediction result and the signal transmission quality threshold, and obtain a signal transmission optimization plan;

[0055] According to the signal transmission optimization scheme, signal transmission and control operations are performed on the pipeline crawling robot, operation data of the pipeline crawling robot is obtained, control accuracy is determined according to the operation data, and control calibration is performed according to the control accuracy.

[0056] The present invention discloses a pipeline crawling robot control method based on signal transmission optimization, aiming to improve the signal transmission quality and control accuracy of the robot in the pipeline. First, the real-time path and environmental information of the pipeline crawling robot is obtained, and a dynamic force diagram of the transmission line is drawn; then, the change in signal transmission quality is evaluated according to the diagram, and the change trend of future transmission quality is predicted; by obtaining the signal transmission amount information in real time, the transmission quality threshold is determined, and the signal transmission scheme is optimized according to the prediction results. Finally, the robot is subjected to signal transmission and control operations according to the optimization scheme, the operation data is obtained, the control accuracy is judged, and precise calibration is performed. This method effectively improves the signal transmission quality and control accuracy of the pipeline crawling robot, and improves its working stability and efficiency in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 A flow chart of a pipeline crawling robot control method based on signal transmission optimization of the present invention is shown;

[0058] Figure 2 A flow chart showing the transmission quality change prediction result obtained by the present invention is shown;

[0059] Figure 3 A flow chart showing the control and calibration of the pipeline crawling robot according to the present invention is shown;

[0060] Figure 4 A block diagram of a pipeline crawling robot control system based on signal transmission optimization of the present invention is shown. DETAILED DESCRIPTION

[0061] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0062] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0063] Figure 1 A flow chart of a pipeline crawling robot control method based on signal transmission optimization of the present invention is shown.

[0064] like Figure 1 As shown, the first aspect of the present invention provides a pipeline crawling robot control method based on signal transmission optimization, comprising:

[0065] S102, acquiring real-time crawling path information and pipeline environment information of the pipeline crawling robot, and drawing a dynamic force diagram of the transmission line of the pipeline crawling robot in a preset time period according to the real-time crawling path information and pipeline environment information;

[0066] S104, performing signal transmission quality evaluation on the pipeline crawling robot according to the transmission line dynamic force diagram to obtain a signal transmission quality change evaluation result;

[0067] S106, determining the quality change characteristics of the signal transmission of the pipeline crawling robot according to the signal transmission quality change evaluation result, and predicting the transmission quality in a future preset time period according to the transmission quality change characteristics to obtain a transmission quality change prediction result;

[0068] S108, acquiring signal transmission amount information of the pipeline crawling robot in real time, determining a signal transmission quality threshold according to the signal transmission amount information, optimizing the signal transmission of the pipeline crawling robot according to the transmission quality change prediction result and the signal transmission quality threshold, and obtaining a signal transmission optimization scheme;

[0069] S110, performing signal transmission and control operations on the pipeline crawling robot according to the signal transmission optimization scheme, acquiring operation data of the pipeline crawling robot, determining control accuracy according to the operation data, and performing control calibration according to the control accuracy.

[0070] It should be noted that by obtaining the path and environmental information of the pipeline crawling robot in real time, we can fully understand the actual movement status of the robot in the pipeline and the external environmental influences it is subject to (such as the roughness of the inner wall of the pipeline, the curvature of the pipeline, the slope change, etc.). The drawn transmission line dynamic force diagram can intuitively present the force conditions of the transmission line in the pipeline at different positions and different time periods; by analyzing the transmission line dynamic force diagram, it is possible to evaluate the impact of physical effects such as friction and tension of the transmission line in the pipeline on signal transmission, and quantify the signal transmission quality of the transmission line under different force states; by analyzing the change trend of signal transmission quality, the fluctuation characteristics of signal quality in different time periods or different paths can be identified. Based on these change characteristics, the future signal transmission quality is predicted through algorithms (such as time series prediction methods such as LSTM), and possible signal problems and attenuation trends are identified in advance; according to the real-time transmission volume and prediction results, the signal transmission strategy is optimized to ensure that the signal quality always remains above the threshold. The formulation of the optimization scheme can avoid problems such as signal interruption and transmission delay, and improve the stability of the robot operation; by implementing the optimized signal transmission scheme, the control signal of the pipeline crawling robot can be guaranteed to be more stable, avoiding control deviations caused by signal loss or interference. After obtaining the robot operation data, its control accuracy can be evaluated to determine whether the current control meets the expected goals. If it is found that the control accuracy is lower than the set value, the control system is calibrated, and the signal transmission and control mechanism are corrected in time to further improve the robot's operation accuracy and task execution capabilities. The signal of the present invention includes control instructions and data required to be transmitted by the crawling pipeline robot.

[0071] According to an embodiment of the present invention, the real-time crawling path information and pipeline environment information of the pipeline crawling robot are obtained, and a dynamic force diagram of the transmission line of the pipeline crawling robot in a preset time period is drawn according to the real-time crawling path information and pipeline environment information, specifically:

[0072] Acquire the real-time crawling path information of the pipeline crawling robot according to the real-time operation data of the pipeline crawling robot, and acquire the pipeline environment information based on the endoscope carried by the pipeline crawling robot;

[0073] Obtaining roughness information of the inner wall of the pipeline and traction information of the pipeline crawling robot, and determining the curvature and slope changes at various positions of the pipeline according to the real-time crawling path information;

[0074] A force model of the transmission line is constructed based on a finite element analysis method, and the friction force of the force model of the transmission line at different positions in the pipeline is calculated according to the roughness information, curvature and slope changes;

[0075] Performing a force analysis on a force model of the transmission line according to the traction force information and the friction force of the transmission line at different positions in the pipeline to determine the force state of the transmission line at each position in the pipeline;

[0076] According to the pipeline environment information, pipeline obstacles are identified, and the shape and size information of the obstacles are obtained. According to the shape and size information, the force state of the force model at each position in the pipeline is adjusted, and according to the adjusted force model, a dynamic force schematic diagram of the transmission line in a preset time period during the real-time crawling process of the pipeline crawling robot is drawn.

[0077] It should be noted that pipelines usually have complex geometric shapes, such as bends, slope changes, and roughness of the inner wall of the pipeline, which directly affect the stress state of the transmission line. The finite element analysis method can discretize the pipeline structure into small finite units, perform independent mechanical analysis on each unit, and then summarize the stress and deformation of each unit through numerical methods to obtain the overall stress state. In practical applications, the stress state of the transmission line is not only affected by friction, but also by external loads (such as traction during robot movement) and constraints (such as bends and slope changes of the pipeline). Finite element analysis can comprehensively consider these factors and accurately simulate the stress state of the transmission line in the pipeline by setting appropriate boundary conditions and load conditions. By obtaining the real-time crawling path information and pipeline environment information of the pipeline crawling robot, and combining the environmental data obtained by the endoscope, the dynamic force diagram of the transmission line of the pipeline crawling robot within a preset time period can be accurately drawn. By obtaining the roughness information of the inner wall of the pipeline and the traction information of the robot, the curvature and slope changes of the pipeline can be analyzed in detail, thereby constructing a force model of the transmission line. On this basis, the finite element analysis method is used to calculate the friction force at different positions in the pipeline, and combined with the traction information, the force analysis of the transmission line is carried out to obtain the specific force state of each position. This process helps to identify resistance factors such as friction and bending that may be encountered during signal transmission, thereby optimizing the signal transmission path and avoiding signal loss or quality degradation. At the same time, obstacles are identified based on pipeline environmental information, and the calculation of the force model is adjusted based on the shape and size of the obstacles to further improve the accuracy of the force analysis of the transmission line.

[0078] According to an embodiment of the present invention, the signal transmission quality of the pipeline crawling robot is evaluated according to the transmission line dynamic force diagram to obtain a signal transmission quality change evaluation result, which is specifically:

[0079] Acquire a transmission line sample of the pipeline crawling robot, perform different force strength tests on the transmission line sample, construct original test transmission signal data, perform signal test transmission on the transmission line sample during the force strength test according to the original test transmission signal data, and acquire test transmission signal data;

[0080] Comparing the original test transmission signal data with the test transmission signal data, calculating the Euclidean distance between the original test transmission signal data and the test transmission signal data, and determining the difference between the original test transmission signal data and the test transmission signal data according to the Euclidean distance;

[0081] Determine the degree of signal distortion of the transmission line sample when transmitting signals under different force intensities according to the difference, evaluate the signal transmission quality according to the signal distortion degree, and obtain signal transmission quality information under different force intensities;

[0082] Determine the influence of different stress states of the transmission line on the signal transmission quality according to the signal transmission quality information under different stress intensities, and obtain the influence data;

[0083] The signal transmission quality of the pipeline crawling robot is evaluated on the transmission line dynamic force diagram according to the influencing data to obtain a signal transmission quality change evaluation result.

[0084] It should be noted that by testing the transmission line samples of the pipeline crawling robot with different force intensities and combining the signal transmission test, the signal transmission quality of the transmission line under different working conditions can be evaluated in detail. During the test, by comparing the original test transmission signal data with the actual test transmission signal data, the Euclidean distance between the two is calculated to determine the degree of signal distortion. This process can accurately reveal the changes in the signal quality of the transmission line under different force conditions, especially the influence of factors such as bending and friction on signal transmission in a complex pipeline environment. Based on these difference data, the system can evaluate the specific impact of different force intensities on the signal transmission quality, and then provide data support for the optimization of the signal transmission of the pipeline crawling robot. By further analyzing these influencing data, the dynamic force diagram of the transmission line can be updated and optimized, thereby realizing the accurate evaluation of the signal transmission quality of the pipeline crawling robot. The different force intensity tests are to conduct actual force tests on the transmission line samples and change the force intensity in real time.

[0085] Figure 2 A flow chart of the present invention for obtaining transmission quality change prediction results is shown.

[0086] According to an embodiment of the present invention, the quality change characteristics of the signal transmission of the pipeline crawling robot are determined according to the signal transmission quality change evaluation result, and the transmission quality of the future preset time period is predicted according to the transmission quality change characteristics to obtain the transmission quality change prediction result, which is specifically:

[0087] S202, constructing a sliding window of a preset size, setting a moving step length of the sliding window, and calculating the average signal transmission quality of the signal transmission quality change evaluation result in each sliding window according to the sliding window and the moving step length to obtain signal transmission quality average value change data;

[0088] S204, determining a change trend of the signal transmission quality change evaluation result in each time period according to the signal transmission quality average value change data, and obtaining a quality change feature;

[0089] S206, constructing a transmission quality change prediction model based on the LSTM algorithm, and setting the input layer, LSTM layer, output layer, loss function, and hyperparameters of the transmission quality change prediction model;

[0090] S208, converting the quality change characteristics into time series data, importing the time series data into the transmission quality change prediction model for training, and optimizing the model parameters;

[0091] S210, obtaining the signal transmission quality change characteristic data of the crawling robot in the current preset time period, importing the signal transmission quality change characteristic data into the transmission quality change prediction model to predict the transmission quality in the future preset time period, and obtaining the transmission quality change prediction result.

[0092] It should be noted that by combining sliding window technology and long short-term memory network (LSTM) algorithm, dynamic prediction and optimization of signal transmission quality of pipeline crawling robot can be achieved. First, the sliding window is used to step by step analyze the evaluation results of signal transmission quality changes, and the average value of signal transmission quality in each window is calculated to obtain the trend data of signal transmission quality changes. By analyzing the changes in these average values, the fluctuation law of signal quality can be effectively identified, and then the characteristics of signal transmission quality changes can be extracted. These feature data are converted into time series and input into the LSTM prediction model for training and optimization. The LSTM model can learn the temporal dependence of signal quality changes, so as to accurately predict the trend of signal transmission quality changes in the future. The model parameters include parameters of input layer, LSTM layer, output layer, loss function, and hyperparameters.

[0093] According to an embodiment of the present invention, the signal transmission amount information of the pipeline crawling robot is obtained in real time, a signal transmission quality threshold is determined according to the signal transmission amount information, and the signal transmission of the pipeline crawling robot is optimized according to the transmission quality change prediction result and the signal transmission quality threshold, so as to obtain a signal transmission optimization scheme, specifically:

[0094] Acquire the signal transmission amount information of the pipeline crawling robot in real time, acquire the signal transmission capacity information of different signal transmission qualities, analyze the signal transmission amount according to the signal transmission capacity information, and determine the signal transmission quality threshold of the pipeline crawling robot transmission line for real-time signal transmission;

[0095] A signal buffer area of ​​the pipeline crawling robot is constructed, the signal transmission quality threshold is matched with the transmission quality change prediction result, a time period in a future preset time period in which the transmission quality is greater than the signal transmission quality threshold is marked as a type of transmission time period, the signal to be transmitted of the pipeline crawling robot is imported into the signal buffer area, and the signal in the signal buffer area is transmitted according to the type of transmission time period, and the operator is prompted with the control lag time of the crawling robot, so as to obtain a first signal transmission optimization scheme;

[0096] It should be noted that the signal transmission strategy is optimized according to the prediction results, the stability and reliability of the signal are improved, potential signal transmission problems are identified in advance, and adjustments are made in time to ensure that the robot can operate stably in a complex pipeline environment and avoid the risk of signal transmission interruption or quality degradation. By predicting the time periods with higher transmission quality in the future preset time period and marking these time periods as "class one transmission time periods", the optimization scheme can give priority to transmitting signals during these time periods, thereby reducing the risk of signal loss and quality degradation. This scheduling method makes the signal more stable during the transmission process and reduces the interference of high-load periods on signal quality. During the transmission process, if the operator sees that the signal quality fluctuates or lags, the optimization scheme will prompt the control lag time and promptly inform the operator how to adjust it to avoid inaccurate control caused by lag, thereby improving the accuracy and safety of robot control. The signal transmission capacity information is the maximum amount of signal data that can be transmitted under the condition that the signal transmission distortion degree is less than the preset value under different signal transmission qualities.

[0097] According to the transmission quality change prediction result, if there is no type of transmission time period in the future preset time period, convert the signal to be transmitted into a character format based on the ASCII code to obtain a character format transmission signal, count the probability of each character appearing in the character format transmission signal, and construct a character probability table;

[0098] Constructing a Huffman tree according to the character probability table, generating a Huffman code for each character according to the Huffman tree, compressing the character format transmission signal according to the Huffman code to obtain compressed data of the signal to be transmitted, and obtaining signal transmission amount information of the compressed data of the signal to be transmitted;

[0099] Analyze the signal transmission volume information of the signal compressed data to be transmitted according to the signal transmission capability information to determine a second signal transmission quality threshold;

[0100] Matching the second signal transmission quality threshold with the transmission quality change prediction result, marking the time period in the future preset time period when the transmission quality is greater than the second signal transmission quality threshold as the second type of transmission time period, importing the compressed data of the signal to be transmitted into the signal buffer area, and transmitting the compressed data of the signal to be transmitted according to the second type of transmission time period to obtain a second signal transmission optimization plan;

[0101] If there is still no second-class transmission time period within the future preset time period, the compressed data of the signal to be transmitted is segmented, and the transmission time of the data segment is determined to obtain a third signal transmission optimization solution.

[0102] It should be noted that there is no transmission time period in the future preset time period, which means that the signal transmission quality of the transmission line of the pipeline crawling robot in the future preset time period cannot meet the transmission amount requirements of the signal to be transmitted. If the signal is still transmitted, the data delay of the transmission signal will be greatly increased, resulting in data distortion and reduced control accuracy of the pipeline crawling robot. Once the control accuracy is reduced, the position of the pipeline crawling robot may be inaccurate in the pipeline. In the case of accumulated inaccurate positions, the position error will become larger and larger, resulting in the loss of connection and inability to retrieve the pipeline crawling robot. Therefore, the signal to be transmitted is converted into a character format based on ASCII code, and a character probability table and a Huffman tree are constructed for compression to reduce the volume of the data to be transmitted. The compressed signal not only reduces the burden of data transmission, but also ensures the stability of information transmission in an environment with poor signal transmission quality. In this way, in an environment with low transmission quality, signal transmission can still be effectively completed, avoiding the problem of the original signal being unable to be transmitted or failing to transmit.

[0103] According to an embodiment of the present invention, if there is still no second type of transmission time period in the future preset time period, the compressed data of the transmission signal is segmented, the transmission time of the data segment is determined, and a third signal transmission optimization scheme is obtained, which is specifically:

[0104] If there is still no second-class transmission time period in the future preset time period, determine the signal transmission capacity change information of the pipeline crawling robot in the future preset time period according to the signal transmission capacity information and the transmission quality change prediction result;

[0105] Determine the change information of the amount of data that can be transmitted by the pipeline crawling robot within a preset time period in the future according to the signal transmission capacity change information;

[0106] Determine the amount of data that can be transmitted for each preset time step in a future preset time period according to the information on the change in the amount of data that can be transmitted;

[0107] Determine the data length of the compressed data of the to-be-transmitted signal for data segmentation based on the amount of transmittable data of each preset time step;

[0108] Segment the compressed data of the signal to be transmitted according to the data length, establish a one-to-one correspondence between the data segments and the amount of transmittable data of each preset time step, and determine the time period of the preset time step to which each data segment belongs;

[0109] Each data segment is imported into the buffer area, and each data segment is transmitted according to the time period to obtain a third signal transmission optimization solution.

[0110] It should be noted that if there is still no Class II transmission time period within the future preset time period, it means that the signal to be transmitted is too large and still cannot meet the signal transmission quality threshold requirement after compression. Therefore, the signal transmission capability of the pipeline crawling robot is monitored and predicted in real time to determine the amount of transmittable data in each time period, and the signal to be transmitted is compressed and segmented. Each data segment corresponds to the amount of transmittable data in each future time step, thereby ensuring that the amount of data transmitted in each preset time period matches the signal transmission capability to avoid excessive load or delay. Through the reasonable matching of data segmentation and time step, the system can automatically adjust the data transmission strategy during periods of poor signal transmission quality, avoid data loss through buffering and segmented transmission, and ensure the continuity and reliability of the entire signal transmission process.

[0111] Figure 3 A flow chart of the control calibration of the pipeline crawling robot according to the present invention is shown.

[0112] According to an embodiment of the present invention, the signal transmission and control operation are performed on the pipeline crawling robot according to the signal transmission optimization scheme, the operation data of the pipeline crawling robot is obtained, the control accuracy is determined according to the operation data, and the control calibration is performed according to the control accuracy, specifically:

[0113] S302, performing signal transmission and control operations on the pipeline crawling robot according to the signal transmission optimization scheme to obtain operation data of the pipeline crawling robot;

[0114] S304, acquiring control instruction data of the pipeline crawling robot according to the signal transmission optimization solution, comparing the control instruction data with the operation data, and determining the operation deviation between the pipeline crawling robot and the control instruction;

[0115] S306, determining the control accuracy of the pipeline crawling robot according to the operation deviation, and if the control accuracy is less than a preset value, performing control calibration on the pipeline crawling robot according to the operation deviation.

[0116] It should be noted that due to the complex and changeable pipeline environment, the robot may face path changes, obstacles in the pipeline, signal attenuation and other situations, resulting in the inability to guarantee its control accuracy. Therefore, even under the premise of optimizing the transmission signal quality, the pipeline crawling robot may still have deviations from the control instructions, causing inaccurate operation of the robot, or even operational errors or deviations from the predetermined route. Therefore, by obtaining the operation data of the pipeline crawling robot, it can reflect its control effect in the process of executing the task in real time, and compare and analyze the control instruction data with the actual operation data of the robot, so as to timely discover the control deviation of the robot, evaluate the control accuracy according to the operation deviation, and automatically trigger the control calibration process when the robot control accuracy is lower than the preset value to ensure that the robot continues to maintain a high-precision control effect. Through the real-time control calibration mechanism, the robot can reduce the problems of deviation from the route and misoperation caused by insufficient control accuracy, and improve the accuracy and safety of task completion; the signal transmission optimization scheme includes the first signal transmission optimization scheme, the second signal transmission optimization scheme, and the third signal transmission optimization scheme; the operation data includes crawling distance data and crawling direction data; the control instruction data includes motion control direction, distance instruction, data transmission instruction, etc.; the control calibration includes position calibration and speed calibration.

[0117] According to an embodiment of the present invention, it also includes:

[0118] Acquire environmental characteristics inside the pipeline, including temperature and humidity, and acquire signal transmission quality of the pipeline crawling robot under different environmental characteristics;

[0119] Modeling the transmission quality under the different environmental characteristics to obtain a model of the impact of environmental characteristics on the signal transmission quality of the pipeline crawling robot;

[0120] Analyzing the environmental characteristics according to the signal transmission quality impact model to determine the signal transmission quality of the pipeline crawling robot inside the pipeline;

[0121] If the signal transmission quality is lower than the preset value, the signal to be transmitted is imported into the buffer area, and the signal in the buffer area is evaluated for the control importance of the pipeline crawling robot, and the data transmission priority of the signal to be transmitted in the buffer area is determined according to the control importance.

[0122] It should be noted that in actual applications, the environmental conditions inside the pipeline often change, and characteristics such as temperature and humidity may cause signal attenuation or distortion, thereby affecting the robot's task execution and control accuracy. The present invention obtains environmental characteristic data such as temperature and humidity inside the pipeline in real time, and establishes a signal transmission quality impact model based on these data, which can accurately evaluate the signal transmission effect under different environmental conditions. If the signal transmission quality is lower than the preset value, the system will automatically store the signal to be transmitted in the buffer area, and evaluate the importance of the signal in the buffer area to determine the priority of data transmission. High-priority signals will be transmitted first to ensure that critical data arrives in time.

[0123] Figure 4 A block diagram of a pipeline crawling robot control system based on signal transmission optimization of the present invention is shown.

[0124] The second aspect of the present invention further provides a pipeline crawling robot control system 4 based on signal transmission optimization, the system comprising: a memory 41, a processor 42, the memory comprising a pipeline crawling robot control method program based on signal transmission optimization, the pipeline crawling robot control method program based on signal transmission optimization when executed by the processor, implements the following steps:

[0125] Acquire real-time crawling path information and pipeline environment information of the pipeline crawling robot, and draw a dynamic force diagram of the transmission line of the pipeline crawling robot in a preset time period according to the real-time crawling path information and pipeline environment information;

[0126] According to the transmission line dynamic force diagram, the signal transmission quality of the pipeline crawling robot is evaluated to obtain a signal transmission quality change evaluation result;

[0127] Determine the quality change characteristics of the signal transmission of the pipeline crawling robot according to the signal transmission quality change evaluation result, and predict the transmission quality in a future preset time period according to the transmission quality change characteristics to obtain a transmission quality change prediction result;

[0128] Acquire the signal transmission amount information of the pipeline crawling robot in real time, determine the signal transmission quality threshold according to the signal transmission amount information, optimize the signal transmission of the pipeline crawling robot according to the transmission quality change prediction result and the signal transmission quality threshold, and obtain a signal transmission optimization plan;

[0129] According to the signal transmission optimization scheme, signal transmission and control operations are performed on the pipeline crawling robot, operation data of the pipeline crawling robot is obtained, control accuracy is determined according to the operation data, and control calibration is performed according to the control accuracy.

[0130] The present invention discloses a pipeline crawling robot control method based on signal transmission optimization, aiming to improve the signal transmission quality and control accuracy of the robot in the pipeline. First, the real-time path and environmental information of the pipeline crawling robot is obtained, and a dynamic force diagram of the transmission line is drawn; then, the change in signal transmission quality is evaluated according to the diagram, and the change trend of future transmission quality is predicted; by obtaining the signal transmission amount information in real time, the transmission quality threshold is determined, and the signal transmission scheme is optimized according to the prediction results. Finally, the robot is subjected to signal transmission and control operations according to the optimization scheme, the operation data is obtained, the control accuracy is judged, and precise calibration is performed. This method effectively improves the signal transmission quality and control accuracy of the pipeline crawling robot, and improves its working stability and efficiency in complex environments.

[0131] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0132] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0133] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0134] A person of ordinary skill in the art can understand that: all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0135] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

[0136] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A pipeline crawling robot control method based on signal transmission optimization, characterized in that: The following steps are involved: Acquire real-time crawling path information and pipeline environment information of the pipeline crawling robot, and draw a dynamic force diagram of the transmission line of the pipeline crawling robot in a preset time period according to the real-time crawling path information and pipeline environment information; According to the transmission line dynamic force diagram, the signal transmission quality of the pipeline crawling robot is evaluated to obtain a signal transmission quality change evaluation result; Determine the quality change characteristics of the signal transmission of the pipeline crawling robot according to the signal transmission quality change evaluation result, and predict the transmission quality in a future preset time period according to the transmission quality change characteristics to obtain a transmission quality change prediction result; Acquire the signal transmission amount information of the pipeline crawling robot in real time, determine the signal transmission quality threshold according to the signal transmission amount information, optimize the signal transmission of the pipeline crawling robot according to the transmission quality change prediction result and the signal transmission quality threshold, and obtain a signal transmission optimization plan; Perform signal transmission and control operations on the pipeline crawling robot according to the signal transmission optimization scheme, obtain operation data of the pipeline crawling robot, determine control accuracy according to the operation data, and perform control calibration according to the control accuracy; The signal transmission amount information of the pipeline crawling robot is obtained in real time, a signal transmission quality threshold is determined according to the signal transmission amount information, and the signal transmission of the pipeline crawling robot is optimized according to the transmission quality change prediction result and the signal transmission quality threshold to obtain a signal transmission optimization scheme, which is specifically: Acquire the signal transmission amount information of the pipeline crawling robot in real time, acquire the signal transmission capacity information of different signal transmission qualities, analyze the signal transmission amount according to the signal transmission capacity information, and determine the signal transmission quality threshold of the pipeline crawling robot transmission line for real-time signal transmission; A signal buffer area of ​​the pipeline crawling robot is constructed, the signal transmission quality threshold is matched with the transmission quality change prediction result, a time period in a future preset time period in which the transmission quality is greater than the signal transmission quality threshold is marked as a type of transmission time period, the signal to be transmitted of the pipeline crawling robot is imported into the signal buffer area, and the signal in the signal buffer area is transmitted according to the type of transmission time period, and the operator is prompted with the control lag time of the crawling robot, so as to obtain a first signal transmission optimization scheme; According to the transmission quality change prediction result, if there is no type of transmission time period in the future preset time period, convert the signal to be transmitted into a character format based on the ASCII code to obtain a character format transmission signal, count the probability of each character appearing in the character format transmission signal, and construct a character probability table; Constructing a Huffman tree according to the character probability table, generating a Huffman code for each character according to the Huffman tree, compressing the character format transmission signal according to the Huffman code to obtain compressed data of the signal to be transmitted, and obtaining signal transmission amount information of the compressed data of the signal to be transmitted; Analyze the signal transmission amount information of the signal compressed data to be transmitted according to the signal transmission capability information to determine a second signal transmission quality threshold; Matching the second signal transmission quality threshold with the transmission quality change prediction result, marking the time period in the future preset time period when the transmission quality is greater than the second signal transmission quality threshold as the second type of transmission time period, importing the compressed data of the signal to be transmitted into the signal buffer area, and transmitting the compressed data of the signal to be transmitted according to the second type of transmission time period to obtain a second signal transmission optimization plan; If there is still no second-class transmission time period within the future preset time period, the compressed data of the signal to be transmitted is segmented, and the transmission time of the data segments is determined to obtain a third signal transmission optimization solution.

2. According to the control method of a pipeline crawling robot based on signal transmission optimization according to claim 1, it is characterized in that: The real-time crawling path information and pipeline environment information of the pipeline crawling robot are obtained, and a dynamic force diagram of the transmission line of the pipeline crawling robot in a preset time period is drawn according to the real-time crawling path information and pipeline environment information, specifically: Acquire the real-time crawling path information of the pipeline crawling robot according to the real-time operation data of the pipeline crawling robot, and acquire the pipeline environment information based on the endoscope carried by the pipeline crawling robot; Obtaining roughness information of the inner wall of the pipeline and traction information of the pipeline crawling robot, and determining the curvature and slope changes at various positions of the pipeline according to the real-time crawling path information; A force model of the transmission line is constructed based on a finite element analysis method, and the friction force of the force model of the transmission line at different positions in the pipeline is calculated according to the roughness information, curvature and slope changes; Performing a force analysis on a force model of the transmission line according to the traction force information and the friction force of the transmission line at different positions in the pipeline to determine the force state of the transmission line at each position in the pipeline; According to the pipeline environment information, pipeline obstacles are identified, and the shape and size information of the obstacles are obtained. According to the shape and size information, the force state of the force model at each position in the pipeline is adjusted, and according to the adjusted force model, a dynamic force schematic diagram of the transmission line in a preset time period during the real-time crawling process of the pipeline crawling robot is drawn.

3. The pipeline crawling robot control method based on signal transmission optimization according to claim 1 is characterized in that: The signal transmission quality of the pipeline crawling robot is evaluated according to the transmission line dynamic force diagram to obtain the signal transmission quality change evaluation result, which is specifically: Acquire a transmission line sample of the pipeline crawling robot, perform different force strength tests on the transmission line sample, construct original test transmission signal data, perform signal test transmission on the transmission line sample during the force strength test according to the original test transmission signal data, and acquire test transmission signal data; Comparing the original test transmission signal data with the test transmission signal data, calculating the Euclidean distance between the original test transmission signal data and the test transmission signal data, and determining the difference between the original test transmission signal data and the test transmission signal data according to the Euclidean distance; Determine the degree of signal distortion of the transmission line sample when transmitting signals under different force intensities according to the difference, evaluate the signal transmission quality according to the signal distortion degree, and obtain signal transmission quality information under different force intensities; Determine the influence of different stress states of the transmission line on the signal transmission quality according to the signal transmission quality information under different stress intensities, and obtain the influence data; The signal transmission quality of the pipeline crawling robot is evaluated on the transmission line dynamic force diagram according to the influencing data to obtain a signal transmission quality change evaluation result.

4. The pipeline crawling robot control method based on signal transmission optimization according to claim 1 is characterized in that: The quality change characteristics of the signal transmission of the pipeline crawling robot are determined according to the signal transmission quality change evaluation result, and the transmission quality of the future preset time period is predicted according to the transmission quality change characteristics to obtain the transmission quality change prediction result, which is specifically: Constructing a sliding window of a preset size, setting a moving step length of the sliding window, and calculating the average signal transmission quality of the signal transmission quality change evaluation result in each sliding window according to the sliding window and the moving step length to obtain signal transmission quality average value change data; Determine the change trend of the signal transmission quality change evaluation result in each time period according to the signal transmission quality average value change data to obtain the quality change characteristics; Construct a transmission quality change prediction model based on the LSTM algorithm, and set the input layer, LSTM layer, output layer, loss function, and hyperparameters of the transmission quality change prediction model; Converting the quality change characteristics into time series data, importing the time series data into the transmission quality change prediction model for training, and optimizing the model parameters; The signal transmission quality change characteristic data of the crawling robot in the current preset time period is obtained, and the signal transmission quality change characteristic data is imported into the transmission quality change prediction model to predict the transmission quality in the future preset time period to obtain the transmission quality change prediction result.

5. The pipeline crawling robot control method based on signal transmission optimization according to claim 1 is characterized in that: If there is still no second-class transmission time period in the future preset time period, the compressed data of the signal to be transmitted is segmented, and the transmission time of the data segments is determined to obtain a third signal transmission optimization scheme, which is specifically: If there is still no second-class transmission time period in the future preset time period, determine the signal transmission capacity change information of the pipeline crawling robot in the future preset time period according to the signal transmission capacity information and the transmission quality change prediction result; Determine the change information of the amount of data that can be transmitted by the pipeline crawling robot within a preset time period in the future according to the signal transmission capacity change information; Determine the amount of data that can be transmitted for each preset time step in a future preset time period according to the information on the change in the amount of data that can be transmitted; Determine the data length of the compressed data of the to-be-transmitted signal for data segmentation based on the amount of transmittable data of each preset time step; Segment the compressed data of the signal to be transmitted according to the data length, establish a one-to-one correspondence between the data segments and the amount of transmittable data of each preset time step, and determine the time period of the preset time step to which each data segment belongs; Each data segment is imported into the buffer area, and each data segment is transmitted according to the time period to obtain a third signal transmission optimization solution.

6. The pipeline crawling robot control method based on signal transmission optimization according to claim 1 is characterized in that: The signal transmission and control operation are performed on the pipeline crawling robot according to the signal transmission optimization scheme, the operation data of the pipeline crawling robot is obtained, the control accuracy is determined according to the operation data, and the control calibration is performed according to the control accuracy, specifically: Performing signal transmission and control operations on the pipeline crawling robot according to the signal transmission optimization scheme to obtain operation data of the pipeline crawling robot; Acquiring control instruction data of the pipeline crawling robot according to the signal transmission optimization scheme, comparing the control instruction data with the operation data, and determining the operation deviation of the pipeline crawling robot and the control instruction; The control accuracy of the pipeline crawling robot is determined according to the operation deviation. If the control accuracy is less than a preset value, the pipeline crawling robot is controlled and calibrated according to the operation deviation.

7. A pipeline crawling robot control system based on signal transmission optimization, characterized in that: The pipeline crawling robot control system based on signal transmission optimization includes a storage device and a processor. The storage device includes a pipeline crawling robot control method program based on signal transmission optimization. When the pipeline crawling robot control method program based on signal transmission optimization is executed by the processor, the following steps are implemented: Acquire real-time crawling path information and pipeline environment information of the pipeline crawling robot, and draw a dynamic force diagram of the transmission line of the pipeline crawling robot in a preset time period according to the real-time crawling path information and pipeline environment information; According to the transmission line dynamic force diagram, the signal transmission quality of the pipeline crawling robot is evaluated to obtain a signal transmission quality change evaluation result; Determine the quality change characteristics of the signal transmission of the pipeline crawling robot according to the signal transmission quality change evaluation result, and predict the transmission quality in a future preset time period according to the transmission quality change characteristics to obtain a transmission quality change prediction result; Acquire the signal transmission amount information of the pipeline crawling robot in real time, determine the signal transmission quality threshold according to the signal transmission amount information, optimize the signal transmission of the pipeline crawling robot according to the transmission quality change prediction result and the signal transmission quality threshold, and obtain a signal transmission optimization plan; Perform signal transmission and control operations on the pipeline crawling robot according to the signal transmission optimization scheme, obtain operation data of the pipeline crawling robot, determine control accuracy according to the operation data, and perform control calibration according to the control accuracy; The signal transmission amount information of the pipeline crawling robot is obtained in real time, a signal transmission quality threshold is determined according to the signal transmission amount information, and the signal transmission of the pipeline crawling robot is optimized according to the transmission quality change prediction result and the signal transmission quality threshold to obtain a signal transmission optimization scheme, which is specifically: Acquire the signal transmission amount information of the pipeline crawling robot in real time, acquire the signal transmission capacity information of different signal transmission qualities, analyze the signal transmission amount according to the signal transmission capacity information, and determine the signal transmission quality threshold of the pipeline crawling robot transmission line for real-time signal transmission; A signal buffer area of ​​the pipeline crawling robot is constructed, the signal transmission quality threshold is matched with the transmission quality change prediction result, a time period in a future preset time period in which the transmission quality is greater than the signal transmission quality threshold is marked as a type of transmission time period, the signal to be transmitted of the pipeline crawling robot is imported into the signal buffer area, and the signal in the signal buffer area is transmitted according to the type of transmission time period, and the operator is prompted with the control lag time of the crawling robot, so as to obtain a first signal transmission optimization scheme; According to the transmission quality change prediction result, if there is no type of transmission time period in the future preset time period, convert the signal to be transmitted into a character format based on the ASCII code to obtain a character format transmission signal, count the probability of each character appearing in the character format transmission signal, and construct a character probability table; Constructing a Huffman tree according to the character probability table, generating a Huffman code for each character according to the Huffman tree, compressing the character format transmission signal according to the Huffman code to obtain compressed data of the signal to be transmitted, and obtaining signal transmission amount information of the compressed data of the signal to be transmitted; Analyze the signal transmission amount information of the signal compressed data to be transmitted according to the signal transmission capability information to determine a second signal transmission quality threshold; Matching the second signal transmission quality threshold with the transmission quality change prediction result, marking the time period in the future preset time period when the transmission quality is greater than the second signal transmission quality threshold as the second type of transmission time period, importing the compressed data of the signal to be transmitted into the signal buffer area, and transmitting the compressed data of the signal to be transmitted according to the second type of transmission time period to obtain a second signal transmission optimization plan; If there is still no second-class transmission time period within the future preset time period, the compressed data of the signal to be transmitted is segmented, and the transmission time of the data segments is determined to obtain a third signal transmission optimization solution.

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