Pipeline robot detecting and positioning system and pipeline robot detecting and positioning method

Abstract

The invention provides a pipeline robot detecting and positioning system and a pipeline robot detecting and positioning method. The system comprises a radio frequency identification tag read-write device and a plurality of radio frequency identification tag laying devices which are in communication connection, wherein the radio frequency identification tag laying devices are arranged on the inner wall of a pipeline and used for storing pipeline tag information of corresponding positions; the radio frequency identification tag read-write device is arranged on the pipeline robot and is used for transmitting a radio frequency signal; in the advancing process of the pipeline robot, the first radio frequency identification tag laying device and the second radio frequency identification tag laying device which are located above the pipeline robot and adjacent to each other receive radio frequency signals transmitted by the radio frequency identification tag read-write device and send the radio frequency signals to the pipeline robot. The pipeline label information is sent to a radio frequency identification label read-write device through a first return signal and a second return signal; and position information of the pipeline robot and deformation and crack conditions of the pipeline are updated in real time according to the first return signal and the second return signal. The pipeline detection efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of sensing technology, and in particular to a pipeline robot detection and positioning system and a pipeline robot detection and positioning method. Background Art

[0002] When a buried pipeline inspection robot performs inspection tasks in a closed underground environment, it needs to be positioned to accurately record the defect location.

[0003] In the prior art, since the satellite positioning system cannot be used to position the buried pipeline inspection robot in the closed underground environment, a cable encoder is usually arranged in the pipeline, and the buried pipeline inspection robot is positioned by the length and winding of the cable, and a camera is installed to detect pipeline problems; however, when the pipeline environment is complex, slippery, or there are obstacles, the accuracy of the cable encoder will be affected, resulting in insufficient positioning accuracy, and insufficient detection accuracy for deformation, cracks and other problems in the pipeline.

[0004] Based on this, there is a problem of insufficient positioning and detection accuracy in the prior art. Summary of the invention

[0005] The embodiments of the present application provide a pipeline robot detection and positioning system and a pipeline robot detection and positioning method, so as to achieve the effect of improving positioning accuracy and detection accuracy.

[0006] In a first aspect, an embodiment of the present application provides a pipeline robot detection and positioning system, including: a radio frequency identification tag reading and writing device and a plurality of radio frequency identification tag deployment devices, the radio frequency identification tag reading and writing device and the plurality of radio frequency identification tag deployment devices are communicatively connected:

[0007] The RFID tag laying device is arranged on the inner wall of the pipeline, and is used to store the pipeline tag information at the corresponding position, and in response to the radio frequency signal emitted by the RFID tag reading and writing device, sends the pipeline tag information to the RFID tag reading and writing device through a return signal;

[0008] The RFID tag reader / writer is arranged on the pipeline robot, and is used to transmit a RFID signal, and receive a first return signal sent by the first RFID tag laying device in response to the RFID signal and a second return signal sent by the second RFID tag laying device in response to the RFID signal, and determine the position information of the pipeline robot, and the deformation and crack conditions of the pipeline according to the first return signal and the second return signal, wherein the RFID tag laying device includes a first RFID tag laying device and a second RFID tag laying device, and the first RFID tag laying device and the second RFID tag laying device are respectively located at two ends of the pipeline robot when returning the first return signal and the second return signal.

[0009] In a possible implementation, the RFID tag reader / writer is also used to send electromagnetic wave signals;

[0010] The RFID tag deployment device is also used to detect the deformation and crack conditions of the pipeline points at the corresponding positions of the RFID tag deployment device according to the electromagnetic wave signals sent by the RFID tag reading and writing device, and store the deformation and crack conditions of the pipeline points at the corresponding positions in the pipeline tag information at the corresponding positions.

[0011] In a possible implementation, the RFID tag deployment device includes a resistive deformation detection unit, a first antenna unit, and a RFID chip, wherein the resistive deformation detection unit is connected to the first antenna unit and the RFID chip respectively; the RFID tag reading and writing device includes a second antenna unit;

[0012] The first antenna unit is used to send electromagnetic wave signals, and the second antenna unit is used to receive electromagnetic wave signals;

[0013] The resistive deformation detection unit includes a plurality of resistive strain gauges arranged at corresponding positions of the RFID tag arrangement device;

[0014] The RFID chip is used to detect the deformation and crack conditions of the pipeline points at the corresponding positions of the RFID tag deployment device using multiple resistance strain gauges according to the electromagnetic wave signal, and store the deformation and crack conditions of the pipeline points at the corresponding positions in the pipeline tag information at the corresponding positions;

[0015] The RFID chip is also used to store the pipeline tag information at the corresponding position, and in response to the radio frequency signal emitted by the RFID tag reader / writer, send the pipeline tag information to the RFID tag reader / writer through a return signal.

[0016] In a possible implementation, the RFID tag reader / writer includes a control circuit and a reader / writer circuit, and the control circuit is connected to the reader / writer circuit;

[0017] The read / write circuit is used to transmit a radio frequency signal, and is used to receive a first return signal sent by the first radio frequency identification tag deployment device in response to the radio frequency signal and a second return signal sent by the second radio frequency identification tag deployment device in response to the radio frequency signal;

[0018] The control circuit is used to determine the position information of the pipeline robot and the deformation and crack conditions of the pipeline according to the first return signal and the second return signal.

[0019] In a possible implementation, the control circuit includes a crystal oscillator circuit;

[0020] The control circuit is also used to control the signal transmission cycle and signal reception cycle of the read-write circuit through the crystal oscillator circuit.

[0021] In a possible implementation, the pipeline label information includes pipeline point information;

[0022] The control circuit is used to obtain the first pipeline point information and the second pipeline point information according to the first return signal and the second return signal, and determine the position information of the pipeline robot according to the first pipeline point information and the second pipeline point information.

[0023] In a possible implementation, the pipeline label information includes pipeline point information;

[0024] The control circuit is used to obtain the first pipeline point information and the second pipeline point information according to the first return signal and the second return signal, and determine whether there is an invalid radio frequency identification tag in the pipe section between the radio frequency identification tag corresponding to the first pipeline point and the radio frequency identification tag corresponding to the second pipeline point according to the first pipeline point information and the second pipeline point information.

[0025] In a possible implementation, the control circuit is further used to control the pipeline robot to inspect the pipe section between the RFID tag corresponding to the first pipeline point and the RFID tag corresponding to the second pipeline point if it is determined that there is an invalid RFID tag in the pipe section between the RFID tag corresponding to the first pipeline point and the RFID tag corresponding to the second pipeline point. In a possible implementation, the control circuit includes a power supply circuit;

[0026] The power supply circuit is connected to the power supply of the pipeline robot and is used to supply power to the radio frequency identification tag reading and writing device.

[0027] In a possible implementation, a plurality of radio frequency identification tag placement devices are evenly arranged on the upper portion of the inner wall of the pipeline along the axial direction of the pipeline.

[0028] In a possible implementation, the RFID tag reader / writer further includes a camera;

[0029] The camera is connected to the pipeline robot;

[0030] The camera is used to record the current environment of the pipeline when the RFID tag reader / writer does not receive a return signal sent by the RFID tag deployment device in response to the RFID tag reader / writer.

[0031] In a second aspect, an embodiment of the present application provides a pipeline robot detection and positioning method, which is applied to the pipeline robot detection and positioning system provided in the first aspect, and the method includes:

[0032] Transmitting radio frequency signals through a radio frequency identification tag reader / writer;

[0033] The RFID tag laying device responds to the RFID tag reading and writing device with the RFID tag laying device, and sends the pipeline tag information to the RFID tag reading and writing device through the return signal, wherein the pipeline tag information is stored in the RFID tag laying device;

[0034] A first return signal sent by the first RFID tag laying device in response to the RFID signal and a second return signal sent by the second RFID tag laying device in response to the RFID signal are received by the RFID tag reading and writing device, and the position information of the pipeline robot is determined according to the first return signal and the second return signal, wherein the RFID tag laying device includes a first RFID tag laying device and a second RFID tag laying device, and the first RFID tag laying device and the second RFID tag laying device are respectively located at two ends of the pipeline robot when returning the first return signal and the second return signal.

[0035] In a possible implementation, it further includes:

[0036] Sending electromagnetic wave signals through a radio frequency identification tag reader / writer;

[0037] The electromagnetic wave signal is received by the radio frequency identification tag deployment device, and the deformation and crack conditions of the pipeline point at the corresponding position of the radio frequency identification tag deployment device are detected according to the electromagnetic wave signal, and the deformation and crack conditions of the pipeline point at the corresponding position are stored in the pipeline tag information at the corresponding position.

[0038] The embodiment of the present application provides a pipeline robot detection and positioning system and a pipeline robot detection and positioning method. The pipeline robot detection and positioning system includes a radio frequency identification tag reading and writing device and a plurality of radio frequency identification tag laying devices. The radio frequency identification tag reading and writing device and the plurality of radio frequency identification tag laying devices are connected in communication: the radio frequency identification tag laying device is arranged on the inner wall of the pipeline, and is used to store the pipeline tag information of the corresponding position; the radio frequency identification tag reading and writing device is arranged on the pipeline robot, and is used to transmit radio frequency signals; the radio frequency identification tag laying device includes a first radio frequency identification tag laying device and a second radio frequency identification tag laying device respectively located at both ends of the pipeline robot, and the radio frequency identification tag reading and writing device receives a first return signal sent by the first radio frequency identification tag laying device in response to the radio frequency signal, and a second return signal sent by the second radio frequency identification tag laying device in response to the radio frequency signal, and determines the position information of the pipeline robot, and the deformation and crack conditions of the pipeline according to the first return signal and the second return signal. Compared with the prior art of positioning the pipeline by a cable encoder, the present application uses radio frequency identification technology for positioning, avoids the influence of the pipeline environment on positioning, and improves the accuracy of positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0040] Figure 1 A schematic diagram of the structure of a pipeline robot detection and positioning system provided in this application Figure 1 ;

[0041] Figure 2 A schematic diagram of the structure of a pipeline robot detection and positioning system provided in this application Figure 2 ;

[0042] Figure 3 Schematic diagram of the pipeline robot detection and positioning method provided in this application Figure 1 ;

[0043] Figure 4 A schematic diagram of an application scenario of the pipeline robot detection and positioning method provided in this application;

[0044] Figure 5 Schematic diagram of the pipeline robot detection and positioning method provided in this application Figure 2 ;

[0045] Figure 6 Schematic diagram of the application scenario of the resistive deformation monitoring unit provided in this application.

[0046] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0047] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0048] It should be noted that the information (including but not limited to device information, parameter information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and corresponding operation entrances shall be provided for users to choose to authorize or refuse.

[0049] In the process of urban development, the number and types of underground pipelines are constantly increasing. Underground pipelines include water supply, drainage, natural gas, oil and electricity pipelines. During long-term use, these pipelines may have problems including cracks, leakage and blockage due to corrosion, wear, geological activities or construction damage. Therefore, it is necessary to locate and detect underground pipelines in order to detect these problems in time and perform corresponding maintenance operations.

[0050] In the prior art, the positioning detection of the pipeline is completed by a cable encoder; however, the cable encoder needs to ensure the accuracy of positioning through the tension and winding state of the cable. When there is a humid environment or obstacles in the pipeline, the cable may slip, get entangled or blocked, resulting in measurement errors, which in turn affects the positioning accuracy; and the camera equipped with the pipeline robot has limited resolution and information for detection in the pipeline, and is unable to identify deformation and cracks that are not obvious on the surface of the pipeline.

[0051] Based on this, in the prior art, there is a problem of insufficient accuracy in locating pipeline problems.

[0052] In order to solve the above problems, the core concept of the present application is: based on radio frequency identification technology, multiple radio frequency identification tag deployment devices are set on the inner wall of the pipeline to store the pipeline tag information of the corresponding position; an radio frequency identification tag reading and writing device is installed on the pipeline robot, and a radio frequency signal is transmitted through the radio frequency identification tag reading and writing device to communicate with the radio frequency identification tag deployment device to obtain a return signal; through the return signal, the position information of the pipeline robot, as well as the deformation and crack conditions of the pipeline, are determined to improve the accuracy of locating pipeline problems.

[0053] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0054] Figure 1 A schematic diagram of the structure of a pipeline robot detection and positioning system provided in this application Figure 1 ,like Figure 1 As shown, the pipeline robot detection and positioning system includes a radio frequency identification tag reading and writing device and multiple radio frequency identification tag laying devices, and the radio frequency identification tag reading and writing device and the multiple radio frequency identification tag laying devices are communicatively connected:

[0055] The RFID tag laying device is arranged on the inner wall of the pipeline, and is used to store the pipeline tag information at the corresponding position, and in response to the radio frequency signal emitted by the RFID tag reading and writing device, sends the pipeline tag information to the RFID tag reading and writing device through a return signal.

[0056] In this embodiment, radio frequency identification is a wireless communication technology that can automatically identify and track a target object through radio frequency signals without physical contact.

[0057] Based on the radio frequency identification technology, this embodiment provides an radio frequency identification tag deployment device and an radio frequency identification tag reading and writing device to transmit radio frequency signals to obtain pipeline tag information at corresponding positions.

[0058] The RFID tag deployment device refers to the ultra-high frequency RFID tag installed on the inner wall of the pipeline. The ultra-high frequency RFID tag refers to the RFID tag with an operating frequency band of 300MHz to 3GHz; the ultra-high frequency RFID tag improves the transmission distance and transmission speed of the RFID signal.

[0059] Optionally, a plurality of radio frequency identification tag layout devices are evenly arranged on the upper portion of the inner wall of the pipeline along the axial direction of the pipeline.

[0060] In this embodiment, during the entire life cycle of pipeline construction, operation and management, multiple radio frequency identification tag layout devices are evenly integrated or attached to the upper part of the inner wall of the pipeline along the axial direction of the pipeline, thereby reducing the interference of fluid or sediment in the pipeline to the radio frequency signal, so that the pipeline robot can continuously receive pipeline label information during the movement, thereby improving the accuracy of real-time positioning.

[0061] The RFID tag reader / writer refers to a device that communicates with multiple RFID tag deployment devices. It activates the UHF RFID tag by transmitting a radio frequency signal and receives the return signal from the UHF RFID tag to read the pipeline tag information at the corresponding position. It improves the speed and accuracy of data collection, thereby improving the positioning and detection efficiency of the pipeline robot. Among them, the UHF RFID tag can be read or written.

[0062] The RFID tag reader / writer is arranged on the pipeline robot, and is used to transmit a RFID signal, and receive a first return signal sent by the first RFID tag laying device in response to the RFID signal and a second return signal sent by the second RFID tag laying device in response to the RFID signal, and determine the position information of the pipeline robot, and the deformation and crack conditions of the pipeline according to the first return signal and the second return signal, wherein the RFID tag laying device includes a first RFID tag laying device and a second RFID tag laying device, and the first RFID tag laying device and the second RFID tag laying device are respectively located at two ends of the pipeline robot when returning the first return signal and the second return signal.

[0063] In this embodiment, the deformation of the pipeline refers to the change in the geometric shape of the pipeline under the action of external force, including bending, twisting, compression, and expansion of the pipeline; the crack of the pipeline refers to the breakage or damage of the pipeline material;

[0064] For example, during the movement of the pipeline robot, the first RFID tag laying device is located at one end of the pipeline robot, and the second RFID tag laying device is located at the other end of the pipeline robot. The position information of the pipeline robot and the deformation and crack conditions of the pipeline are determined according to the first return signal sent by the first RFID tag laying device in response to the RFID signal and the second return signal sent by the second RFID tag laying device in response to the RFID signal; wherein the first RFID tag laying device and the second RFID tag laying device are continuously updated as the pipeline robot moves, so as to continuously obtain the position information of the pipeline robot and the deformation and crack conditions of each continuous pipe section in the pipeline in real time, avoid missing the deformation and crack conditions of the pipeline, and improve the positioning accuracy and real-time performance of the pipeline robot.

[0065] Figure 2 A schematic diagram of the structure of a pipeline robot detection and positioning system provided in this application Figure 2 ,exist Figure 1 Based on the embodiment shown, Figure 2 As shown, the RFID tag layout device includes a resistive deformation detection unit, a first antenna unit and a RFID chip, and the resistive deformation detection unit is connected to the first antenna unit and the RFID chip respectively; the RFID tag reading and writing device includes a second antenna unit:

[0066] The first antenna unit is used to send electromagnetic wave signals, and the second antenna unit is used to receive electromagnetic wave signals.

[0067] The first antenna unit and the second antenna unit transmit data via electromagnetic wave signals without the need for a transmission medium, thereby reducing the cost of data transmission and improving the efficiency of data transmission.

[0068] Optionally, the RFID tag reader / writer is also used to send electromagnetic wave signals;

[0069] The RFID tag deployment device is also used to detect the deformation and crack conditions of the pipeline points at the corresponding positions of the RFID tag deployment device according to the electromagnetic wave signals sent by the RFID tag reading and writing device, and store the deformation and crack conditions of the pipeline points at the corresponding positions in the pipeline tag information at the corresponding positions.

[0070] In this embodiment, the electromagnetic wave signal sent by the RFID tag reader / writer is a radio frequency signal; after the first antenna unit receives the electromagnetic wave signal from the second antenna unit, the electromagnetic energy, clock and data in the electromagnetic wave signal are obtained;

[0071] Furthermore, the electromagnetic resonance frequency of the first antenna unit and the second antenna unit can be fed back through high-frequency communication between the first antenna unit and the second antenna unit.

[0072] The resistive deformation detection unit includes a plurality of resistive strain gauges arranged at corresponding positions of the radio frequency identification tag arrangement device.

[0073] In this embodiment, the resistive strain gauge refers to a sensor that measures the deformation of an object by detecting the change in resistance of a material. The resistive strain gauge is used to confirm the deformation and crack conditions of the corresponding pipeline points through the electromagnetic resonance frequency, thereby improving the accuracy of pipeline problem detection.

[0074] The RFID chip is used to detect the deformation and crack conditions of the pipeline points at the corresponding positions of the RFID tag deployment device based on electromagnetic wave signals using multiple resistive strain gauges, and store the deformation and crack conditions of the pipeline points at the corresponding positions in the pipeline tag information at the corresponding positions.

[0075] In this embodiment, the electromagnetic energy in the received electromagnetic wave signal is converted into electrical energy to activate the pipeline tag information so that the radio frequency identification chip can read and process the corresponding return signal.

[0076] The RFID chip is also used to store the pipeline tag information at the corresponding position, and in response to the radio frequency signal emitted by the RFID tag reader / writer, send the pipeline tag information to the RFID tag reader / writer through a return signal.

[0077] In this embodiment, the second antenna unit in the radio frequency identification tag reader / writer includes an antenna coil and a matching circuit; wherein the antenna coil is used to receive electromagnetic wave signals; the matching circuit is used to reduce energy transmission loss to improve the stability of the second antenna unit, and at this time, the electromagnetic wave signal is a return signal.

[0078] The RFID tag reader / writer includes a control circuit and a read / write circuit, and the control circuit is connected to the read / write circuit:

[0079] The read / write circuit is used to transmit radio frequency signals, and to receive a first return signal sent by the first radio frequency identification tag deployment device in response to the radio frequency signal and a second return signal sent by the second radio frequency identification tag deployment device in response to the radio frequency signal.

[0080] In this embodiment, the read-write circuit includes a radio frequency chip and a filtering circuit. The radio frequency chip is used to transmit radio frequency signals and amplify radio frequency signals to improve the quality and reliability of signal transmission; and convert the amplified radio frequency signals into digital signals, thereby improving the flexibility of the read-write circuit and the data transmission efficiency; the filtering circuit is used to filter the interference noise of the radio frequency signal, the first return signal and the second return signal to improve the accuracy of signal transmission.

[0081] The control circuit is used to determine the position information of the pipeline robot and the deformation and crack conditions of the pipeline according to the first return signal and the second return signal.

[0082] Optionally, the control circuit includes a crystal oscillator circuit;

[0083] The control circuit is also used to control the signal transmission cycle and signal reception cycle of the read-write circuit through the crystal oscillator circuit.

[0084] In this embodiment, the crystal oscillator circuit refers to an electronic circuit used to generate a stable clock signal. The control circuit controls the signal transmission period and signal reception period of the read-write circuit through the crystal oscillator circuit, ensuring the integrity of the signal during the transmission and reception process and reducing the problem of signal loss or signal error.

[0085] Optionally, the control circuit includes a power supply circuit;

[0086] The power supply circuit is connected to the power supply of the pipeline robot and is used to supply power to the radio frequency identification tag reading and writing device.

[0087] In this embodiment, the power supply circuit is connected to the power supply of the pipeline robot, which simplifies power management, reduces power cost and energy loss, and improves the reliability of the control circuit.

[0088] Optionally, the control circuit further includes a microcontroller unit, a main controller, a control interface, an expansion interface and a serial interface circuit:

[0089] Among them, the microcontroller unit main controller is used to control the transmission and reception of signals, data communication with the pipeline robot control system and the radio frequency chip, information storage, and management of the control interface; control interface, expansion interface, crystal oscillator circuit, power supply circuit and serial interface circuit; the control interface is used to connect the microcontroller unit main controller to the radio frequency chip address line, data line and control line communication, so as to realize the microcontroller unit main controller to determine the storage location and register in the radio frequency chip, and complete the data reading operation; the expansion interface is used to connect other external devices to enhance the flexibility of the control circuit; the serial interface circuit is used to connect the control system of the pipeline robot to control the transmission and reception of signals of the radio frequency identification tag reader and writer through the control system of the pipeline robot.

[0090] Optionally, the pipeline label information includes pipeline point information.

[0091] In this embodiment, the pipeline point information is the longitude and latitude information of the radio frequency identification tag reader / writer.

[0092] Optionally, the pipeline label information also includes the pipeline manufacturer, operation and maintenance information, material, size, and burial depth.

[0093] The control circuit is used to obtain the first pipeline point information and the second pipeline point information according to the first return signal and the second return signal, and determine the position information of the pipeline robot according to the first pipeline point information and the second pipeline point information.

[0094] Optionally, the control circuit is used to obtain the first pipeline point information and the second pipeline point information based on the first return signal and the second return signal, and determine whether there is an invalid radio frequency identification tag in the pipe section between the radio frequency identification tag corresponding to the first pipeline point and the radio frequency identification tag corresponding to the second pipeline point based on the first pipeline point information and the second pipeline point information.

[0095] In this embodiment, for example, the RFID tag reader / writer receives a first return signal sent by the first RFID tag deployment device in response to the RFID signal, and does not receive a second return signal sent by the second RFID tag deployment device in response to the RFID signal within a preset first time period, and receives a second return signal sent by the second RFID tag deployment device in response to the RFID signal within a preset second time period, then it indicates that there is an invalid RFID tag in the pipe section between the RFID tag corresponding to the first pipeline point and the RFID tag corresponding to the second pipeline point.

[0096] Furthermore, if the distance between the first pipeline point information and the second pipeline point information obtained by the RFID tag reading and writing device based on the received first return signal and the second return signal is greater than a preset distance threshold, then it is characterized that there is an invalid RFID tag in the pipe section between the RFID tag corresponding to the first pipeline point and the RFID tag corresponding to the second pipeline point.

[0097] Optionally, the control circuit is also used to control the pipeline robot to inspect the pipe section between the RFID tag corresponding to the first pipeline point and the RFID tag corresponding to the second pipeline point if it is determined that there is an invalid RFID tag in the pipe section between the RFID tag corresponding to the first pipeline point and the RFID tag corresponding to the second pipeline point.

[0098] In this embodiment, the inspection method for the failed RFID tags in the pipe section between the RFID tag corresponding to the first pipeline point and the RFID tag corresponding to the second pipeline point includes physical inspection, ultrasonic inspection, and camera monitoring.

[0099] Furthermore, the RFID tag reading and writing device also includes a camera;

[0100] The camera is connected to the pipeline robot;

[0101] The camera is used to record the current environment of the pipeline when the RFID tag reader / writer does not receive a return signal sent by the RFID tag deployment device in response to the RFID tag reader / writer.

[0102] In this embodiment, if the RFID tag reading and writing device does not receive the return signal sent by the RFID tag deploying device in response to the RFID signal, and the pipeline robot stops moving, the camera records the environmental conditions of the current pipe section in the pipeline to determine whether there are large-area structural defects in the current pipe section, and records the current position information of the pipeline robot to control the pipeline robot to return.

[0103] Figure 3 Schematic diagram of the pipeline robot detection and positioning method provided in this application Figure 1 , this method is applied to Figure 1 The pipeline robot detection and positioning system shown in FIG. Figure 3 As shown, the method includes:

[0104] S301, transmitting a radio frequency signal through a radio frequency identification tag reader / writer.

[0105] In this embodiment, a radio frequency signal is generated according to a preset signal transmission period of the radio frequency identification tag reading and writing device, and is sent to the radio frequency identification tag deployment device.

[0106] S302, the RFID tag deployment device responds to the RFID tag reader / writer's RF signal and sends the pipeline tag information to the RFID tag reader / writer through a return signal, wherein the pipeline tag information is stored in the RFID tag deployment device.

[0107] In this embodiment, the RFID tag deployment device responds to the RFID signal emitted by the RFID tag reader / writer, converts the electromagnetic energy in the RFID signal into electrical energy to activate the pipeline tag information stored in the RFID tag deployment device and obtains a corresponding return signal.

[0108] S303, receiving, by an RFID tag reader / writer, a first return signal sent by the first RFID tag deploying device in response to the RFID signal and a second return signal sent by the second RFID tag deploying device in response to the RFID signal, and determining the position information of the pipeline robot according to the first return signal and the second return signal, wherein the RFID tag deploying device includes a first RFID tag deploying device and a second RFID tag deploying device, and the first RFID tag deploying device and the second RFID tag deploying device are respectively located at two ends of the pipeline robot when returning the first return signal and the second return signal.

[0109] In this embodiment, if Figure 4As shown, the two return signals with the highest energy intensities among the return signals, namely the return signals sent by the RFID tag deployment devices located at both ends of the pipeline robot, are screened to obtain a first return signal and a second return signal.

[0110] Then, according to the first return signal and the second return signal, the position information of the pipeline robot is determined, including:

[0111] Acquire the first pipeline point position information (X1, Y1, Z1) of the first RFID tag deployment device in the first return signal, and the second pipeline point position information (X2, Y2, Z2) of the second RFID tag deployment device in the second return signal;

[0112] Based on the first pipeline point information (X1, Y1, Z1) and the second pipeline point information (X2, Y2, Z2), the distance r1 between the RFID tag reader and the first RFID tag layout device and the distance r2 between the RFID tag reader and the second RFID tag layout device are calculated respectively; wherein, the calculation formulas of r1 and r2 are as follows:

[0113]

[0114] Where r is r1 or r2; λ0 is the field wavelength; π is a constant; K is a value-added constant related to the antenna and chip impedance in the second antenna read / write unit in the RFID tag read / write device; P t is the transmission power of the RF signal of the RFID tag reader at time t, G T is the antenna gain of the second antenna unit in the RFID tag reader / writer, G B is the gain of the antenna coil of the first antenna unit in the RFID tag deployment device, and P is the backscattered signal power measured from the RFID tag deployment device to the RFID tag reader / writer;

[0115] Based on (X1, Y1, Z1), (X2, Y2, Z2), r1 and r2, the position information (X, Y) of the pipeline robot is determined, wherein the calculation formula 2 of the position information (X, Y) of the pipeline robot is as follows:

[0116]

[0117] Where Z is the integration height of the RFID tag reader and the pipeline inspection robot.

[0118] The pipeline robot detection and positioning method provided in the embodiment of the present application is that during the movement of the pipeline robot, the RFID tag deployment device responds to the RFID signal emitted by the RFID tag reader / writer to send the pipeline tag information stored in the first RFID tag deployment device and the pipeline tag information stored in the second RFID tag deployment device to the RFID tag reader / writer via the first return signal and the second return signal respectively, and calculates to obtain the real-time coordinates of the pipeline robot, thereby reducing the influence of environmental factors on the positioning of the pipeline robot in the prior art, thereby improving the accuracy of the positioning of the pipeline robot.

[0119] Figure 5 Schematic diagram of the pipeline robot detection and positioning method provided in this application Figure 2 ,like Figure 5 As shown, the method also includes:

[0120] S501, sending an electromagnetic wave signal through a radio frequency identification tag reader / writer.

[0121] In this embodiment, the electromagnetic wave signal sent by the RFID tag reading and writing device is a radio frequency signal.

[0122] S502, receiving electromagnetic wave signals through the radio frequency identification tag deployment device, detecting deformation and crack conditions of the pipeline points at corresponding positions of the radio frequency identification tag deployment device according to the electromagnetic wave signals, and storing the deformation and crack conditions of the pipeline points at corresponding positions in the pipeline tag information at the corresponding positions.

[0123] In this embodiment, the RFID tag deployment device includes an RFID chip, which integrates the conversion function of analog signals and digital signals, converts RFID signals into digital signals, and performs calculation and analysis.

[0124] For example, the RFID chip converts the analog value of the input voltage into a digital value and performs calculation analysis, and returns the calculation result to the RFID tag reader / writer via a radio frequency signal.

[0125] The RFID tag deployment device receives the RF signal, converts the electromagnetic energy in the RF signal into electrical energy, and determines the resistance change value ΔR of the resistive deformation detection unit through the resistive deformation monitoring unit in the RFID tag deployment device. The calculation formula 3 of the resistance change value ΔR of the resistive deformation detection unit is as follows:

[0126]

[0127] Wherein, R is the normal resistance value of each resistive strain gauge in the resistive deformation monitoring unit when no deformation occurs, E is the power input voltage value, and U is the output voltage value;

[0128] Based on the resistance change value ΔR of the resistive deformation detection unit, the deformation and crack condition ε of the pipeline point are calculated. The calculation formula 4 is as follows:

[0129]

[0130] Where A is the sensitivity of the resistance strain gauge;

[0131] The deformation and crack conditions ε of the pipeline points are stored in the pipeline label information at the corresponding positions.

[0132] Furthermore, the UHF RFID tag also includes the pipeline strain deformation corresponding to the current size and material pipeline under different strain values, and compares the obtained deformation and crack condition ε of the pipeline point with the pipeline strain deformation corresponding to the current size and material pipeline under different strain values. When the obtained deformation and crack condition ε of the pipeline point meets the preset set value, the deformation and crack condition ε of the pipeline point and the pipeline strain deformation of the pipeline point are recorded, and an early warning message is generated to prompt the strain deformation of the pipeline.

[0133] For example, if the resistance type deformation monitoring unit includes four resistance type strain gauges R1, R2, R3 and R4, the resistance type deformation monitoring unit is as follows: Figure 6 shown.

[0134] The pipeline robot detection and positioning method provided in the embodiment of the present application receives the electromagnetic wave signal sent by the radio frequency identification tag reading and writing device through the radio frequency identification tag deployment device, converts the electromagnetic energy in the electromagnetic wave signal into electrical energy, calculates the deformation and crack conditions of the pipeline points through the electrical energy and the resistance in the resistive deformation detection unit, and stores the obtained deformation and crack conditions of the pipeline points in the pipeline tag information at the corresponding position, thereby improving the accuracy of pipeline problem detection and further improving the efficiency of pipeline problem positioning.

[0135] The present application also provides a pipeline robot positioning device, the pipeline robot positioning device comprising:

[0136] A transmitting module, used to transmit a radio frequency signal through a radio frequency identification tag reader / writer;

[0137] A return module, used to send the pipeline tag information to the RFID tag reader / writer through a return signal in response to the RFID tag layout device in response to the RFID tag reader / writer transmitted by the RFID tag layout device, wherein the pipeline tag information is stored in the RFID tag layout device;

[0138] A positioning module is used to receive a first return signal sent by a first RFID tag deployment device in response to a RFID signal and a second return signal sent by a second RFID tag deployment device in response to a RFID signal through a RFID tag reading and writing device, and determine the position information of the pipeline robot according to the first return signal and the second return signal, wherein the RFID tag deployment device includes a first RFID tag deployment device and a second RFID tag deployment device, and the first RFID tag deployment device and the second RFID tag deployment device are respectively located at two ends of the pipeline robot when returning the first return signal and the second return signal.

[0139] Optionally, the transmitting module may also be used to send electromagnetic wave signals through a radio frequency identification tag reader / writer.

[0140] In a possible implementation, the pipeline robot positioning device also includes a detection module, which is used to receive electromagnetic wave signals through the radio frequency identification tag deployment device, detect the deformation and crack conditions of the pipeline point at the corresponding position of the radio frequency identification tag deployment device according to the electromagnetic wave signals, and store the deformation and crack conditions of the pipeline point at the corresponding position in the pipeline tag information at the corresponding position.

[0141] The pipeline robot positioning device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0142] The present application also provides a pipeline robot positioning device. The pipeline robot positioning device includes: at least one processor and a memory. Optionally, the device also includes a communication component. The processor, the memory and the communication component are connected via a bus.

[0143] In a specific implementation process, at least one processor executes computer-executable instructions stored in a memory, so that at least one processor executes the above method.

[0144] The specific implementation process of the processor can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0145] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the invention may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0146] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (Non-volatile Memory, NVM), such as at least one disk memory.

[0147] The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, the bus in the drawings of the present application is not limited to only one bus or one type of bus.

[0148] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0149] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0150] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0151] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0152] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, 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 solution of this embodiment.

[0153] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0154] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0155] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0156] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A pipeline robot detection and positioning system, characterized in that: It includes a radio frequency identification tag reading and writing device and a plurality of radio frequency identification tag laying devices, wherein the radio frequency identification tag reading and writing device and the plurality of radio frequency identification tag laying devices are communicatively connected: The RFID tag laying device is arranged on the inner wall of the pipeline, and is used to store the pipeline tag information at the corresponding position, and in response to the radio frequency signal emitted by the RFID tag reading and writing device, sends the pipeline tag information to the RFID tag reading and writing device through a return signal; The RFID tag reader / writer is arranged on the pipeline robot, and is used to transmit a RFID signal, and receive a first return signal sent by the first RFID tag laying device in response to the RFID signal and a second return signal sent by the second RFID tag laying device in response to the RFID signal, and determine the position information of the pipeline robot, and the deformation and crack conditions of the pipeline according to the first return signal and the second return signal, wherein the RFID tag laying device includes the first RFID tag laying device and the second RFID tag laying device, and the first RFID tag laying device and the second RFID tag laying device are respectively located at two ends of the pipeline robot when returning the first return signal and the second return signal.

2. The pipeline robot detection and positioning system according to claim 1, characterized in that: The RFID tag reader / writer is also used to send electromagnetic wave signals; The RFID tag deployment device is also used to detect the deformation and crack conditions of the pipeline point at the corresponding position of the RFID tag deployment device according to the electromagnetic wave signal sent by the RFID tag reading and writing device, and store the deformation and crack conditions of the pipeline point at the corresponding position in the pipeline tag information at the corresponding position.

3. The pipeline robot detection and positioning system according to claim 2, characterized in that: The RFID tag layout device includes a resistive deformation detection unit, a first antenna unit and a RFID chip, wherein the resistive deformation detection unit is connected to the first antenna unit and the RFID chip respectively; the RFID tag reading and writing device includes a second antenna unit; The first antenna unit is used to send electromagnetic wave signals, and the second antenna unit is used to receive electromagnetic wave signals; The resistive deformation detection unit includes a plurality of resistive strain gauges arranged at corresponding positions of the RFID tag placement device; The RFID chip is used to detect the deformation and crack conditions of the pipeline points at the corresponding positions of the RFID tag deployment device using the multiple resistance strain gauges according to the electromagnetic wave signal, and store the deformation and crack conditions of the pipeline points at the corresponding positions in the pipeline tag information at the corresponding positions; The RFID chip is also used to store the pipeline label information at the corresponding position, and in response to the radio frequency signal emitted by the RFID tag reader / writer, send the pipeline label information to the RFID tag reader / writer through a return signal.

4. The pipeline robot detection and positioning system according to any one of claims 1 to 3, characterized in that: The RFID tag reading and writing device comprises a control circuit and a reading and writing circuit, wherein the control circuit is connected to the reading and writing circuit; The read / write circuit is used to transmit a radio frequency signal, and is used to receive a first return signal sent by the first radio frequency identification tag deployment device in response to the radio frequency signal and a second return signal sent by the second radio frequency identification tag deployment device in response to the radio frequency signal; The control circuit is used to determine the position information of the pipeline robot and the deformation and crack conditions of the pipeline according to the first return signal and the second return signal.

5. The pipeline robot detection and positioning system according to claim 4, characterized in that: The control circuit includes a crystal oscillator circuit; The control circuit is also used to control the signal transmission cycle and signal reception cycle of the read-write circuit through the crystal oscillator circuit.

6. The pipeline robot detection and positioning system according to claim 4, characterized in that: The pipeline label information includes pipeline point information; The control circuit is used to obtain first pipeline point information and second pipeline point information according to the first return signal and the second return signal, and determine the position information of the pipeline robot and the deformation and crack conditions of the pipeline according to the first pipeline point information and the second pipeline point information.

7. The pipeline robot detection and positioning system according to claim 4, characterized in that: The pipeline label information includes pipeline point information; The control circuit is used to obtain first pipeline point information and second pipeline point information according to the first return signal and the second return signal, and determine whether there is an invalid radio frequency identification tag in a pipe section between the radio frequency identification tag corresponding to the first pipeline point and the radio frequency identification tag corresponding to the second pipeline point according to the first pipeline point information and the second pipeline point information.

8. The pipeline robot detection and positioning system according to claim 7, characterized in that: The control circuit is also used to control the pipeline robot to inspect the pipe section between the RFID tag corresponding to the first pipeline point and the RFID tag corresponding to the second pipeline point if it is determined that there is an invalid RFID tag in the pipe section between the RFID tag corresponding to the first pipeline point and the RFID tag corresponding to the second pipeline point.

9. The pipeline robot detection and positioning system according to any one of claims 5 to 8, characterized in that: The control circuit includes a power supply circuit; The power supply circuit is connected to the power supply of the pipeline robot and is used to supply power to the radio frequency identification tag reading and writing device.

10. The pipeline robot detection and positioning system according to any one of claims 5 to 8, characterized in that: The plurality of radio frequency identification tag arrangement devices are evenly arranged on the upper portion of the inner wall of the pipeline along the axial direction of the pipeline.

11. The pipeline robot detection and positioning system according to any one of claims 5 to 8, characterized in that: The RFID tag reading and writing device also includes a camera; The camera is connected to the pipeline robot; Wherein, the camera is used to record the current environmental conditions of the pipeline when the RFID tag reader / writer does not receive a return signal sent by the RFID tag deployment device in response to the RFID tag reader / writer.

12. A pipeline robot detection and positioning method, characterized in that: Applied to the pipeline robot detection and positioning system according to any one of claims 1 to 11, the method comprises: Transmitting radio frequency signals through a radio frequency identification tag reader / writer; The RFID tag laying device responds to the RFID tag reading and writing device with a radio frequency signal, and sends the pipeline tag information to the RFID tag reading and writing device through a return signal, wherein the pipeline tag information is stored in the RFID tag laying device; the RFID tag reading and writing device receives a first return signal sent by the first RFID tag laying device in response to the RFID signal and a second return signal sent by the second RFID tag laying device in response to the RFID signal, and determines the position information of the pipeline robot according to the first return signal and the second return signal, wherein the RFID tag laying device includes the first RFID tag laying device and the second RFID tag laying device, and the first RFID tag laying device and the second RFID tag laying device are respectively located at two ends of the pipeline robot when returning the first return signal and the second return signal.

13. The pipeline robot detection and positioning method according to claim 12, characterized in that: Also includes: Sending electromagnetic wave signals through the radio frequency identification tag reader / writer; The electromagnetic wave signal is received by the radio frequency identification tag deployment device, and the deformation and crack conditions of the pipeline point at the corresponding position of the radio frequency identification tag deployment device are detected according to the electromagnetic wave signal, and the deformation and crack conditions of the pipeline point at the corresponding position are stored in the pipeline tag information at the corresponding position.

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