Pipeline robot detection and positioning system and pipeline robot detection and positioning method

Abstract

This application provides a pipeline robot detection and positioning system and method. The system includes: a radio frequency identification (RFID) tag reader / writer device and multiple RFID tag placement devices connected via communication. The RFID tag placement devices are mounted on the inner wall of a pipeline and store information about pipeline tags at corresponding locations. The RFID tag reader / writer device is mounted on the pipeline robot and transmits RFID signals. During the robot's movement, first and second RFID tag placement devices, located above and adjacent to the pipeline robot, receive RFID signals from the RFID tag reader / writer device and transmit the pipeline tag information to the RFID tag reader / writer device via first and second return signals. Based on the first and second return signals, the robot's position information, as well as pipeline deformation and crack conditions, are updated in real time, thereby improving pipeline detection efficiency.

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 existing technology, since the underground closed environment cannot use the satellite positioning system to locate the buried pipeline inspection robot, a cable encoder is usually arranged in the pipeline. 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, the existing technology has the problem of insufficient positioning and detection accuracy. 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, comprising: an RFID tag reader / writer and a plurality of RFID tag placement devices, wherein the RFID tag reader / writer and the plurality of RFID tag placement 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 respond to the radio frequency signal emitted by the RFID tag reader / writer, and send the pipeline tag information to the RFID tag reader / writer through the return signal;

[0008] The RFID tag reading and writing device is set on the pipeline robot, and the RFID tag reading and writing device is used to transmit RFID signals 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. According to the first return signal and the second return signal, the position information of the pipeline robot and the deformation and crack conditions of the pipeline are determined. The RFID tag laying device includes a first RFID tag laying device and a second RFID tag laying device. When returning the first return signal and the second return signal, the first RFID tag laying device and the second RFID tag laying device are respectively located at the two ends of the pipeline robot.

[0009] In one possible implementation, the RFID tag reader / writer is further configured to transmit electromagnetic wave signals;

[0010] 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.

[0011] In one possible embodiment, the RFID tag deployment device includes a resistive deformation detection unit, a first antenna unit, and an RFID chip, wherein the resistive deformation detection unit is connected to the first antenna unit and the RFID chip respectively; the RFID tag reader / writer 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 radio frequency identification tag arrangement device;

[0014] The RFID chip is used to detect the deformation and crack conditions of the pipeline points corresponding to the positions of the RFID tag deployment device based on electromagnetic wave signals using multiple resistance 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;

[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, sends the pipeline tag information to the RFID tag reader / writer through a return signal.

[0016] In one possible implementation, the radio frequency identification tag reader / writer device includes a control circuit and a read / write circuit, wherein the control circuit is connected to the read / write circuit;

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

[0025] In one possible embodiment, the control circuit is further configured 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 a failed RFID tag exists 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 one possible embodiment, 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 power 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 one 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 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's RF signal.

[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. 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's radio frequency signal and transmits 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;

[0034] 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 are received by the RFID tag reading and writing device, and the position information of the pipeline robot is determined based on 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 the two ends of the pipeline robot when returning the first return signal and the second return signal.

[0035] In a possible implementation, the method 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 corresponding to the 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 present invention provides a pipeline robot detection and positioning system and method. The pipeline robot detection and positioning system includes an RFID tag reader / writer and multiple RFID tag placement devices, which are communicatively connected. The RFID tag placement devices are disposed on the inner wall of a pipeline and are used to store pipeline tag information at corresponding locations. The RFID tag reader / writer is disposed on the pipeline robot and is used to transmit RFID signals. The RFID tag placement devices include a first RFID tag placement device and a second RFID tag placement device, respectively located at both ends of the pipeline robot. The RFID tag reader / writer receives a first return signal sent by the first RFID tag placement device in response to the RFID signal and a second return signal sent by the second RFID tag placement device in response to the RFID signal. Based on the first and second return signals, the pipeline robot's position information, as well as any deformation or cracking of the pipeline, is determined. Compared to the prior art method of using cable encoders for pipeline positioning, the present invention uses RFID technology for positioning, avoiding the influence of the pipeline environment on positioning and improving positioning accuracy. 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 Schematic diagram of the 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 illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0047] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain 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 provide corresponding operation entrances 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 power pipelines. During long-term use, these pipelines may develop 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 existing technology, pipeline positioning detection is completed through cable encoders; however, cable encoders need to use the tension and winding state of the cable to ensure positioning accuracy. When there is a humid environment or obstacles in the pipeline, the cable may slip, become entangled or blocked, resulting in measurement errors, which in turn affects positioning accuracy. In addition, the resolution and information of the camera equipped with the pipeline robot in the pipeline are limited, and it is unable to identify deformations and cracks that are not obvious on the surface of the pipeline.

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

[0052] In order to solve the above problems, the core concept of this application is: based on radio frequency identification technology, multiple radio frequency identification tag layout 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 the radio frequency identification tag reading and writing device transmits radio frequency signals to communicate with the radio frequency identification tag layout 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 following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. 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 an RFID tag reading and writing device and multiple RFID tag laying devices, and the RFID tag reading and writing device and the multiple RFID tag laying devices are communicatively connected:

[0055] The RFID tag laying device is set on the inner wall of the pipeline, and is used to store the pipeline tag information at the corresponding position, and respond to the radio frequency signal emitted by the RFID tag reader / writer, and send the pipeline tag information to the RFID tag reader / writer 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 radio frequency identification technology, this embodiment provides an radio frequency identification tag deployment device and an radio frequency identification tag reader / writer to transmit radio frequency signals to obtain pipeline tag information at corresponding locations.

[0058] The RFID tag deployment device refers to an ultra-high frequency (UHF) RFID tag installed on the inner wall of a pipe. An UHF RFID tag refers to an RFID tag with an operating frequency band of 300MHz to 3GHz. The UHF RFID tag improves the transmission distance and speed of RFID signals.

[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 on the radio frequency signal, so that the pipeline robot can continuously receive pipeline tag information during the movement, thereby improving the accuracy of real-time positioning.

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

[0062] The RFID tag reading and writing device is set on the pipeline robot, and the RFID tag reading and writing device is used to transmit RFID signals 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. According to the first return signal and the second return signal, the position information of the pipeline robot and the deformation and crack conditions of the pipeline are determined. The RFID tag laying device includes a first RFID tag laying device and a second RFID tag laying device. When returning the first return signal and the second return signal, the first RFID tag laying device and the second RFID tag laying device are respectively located at the two ends of the pipeline robot.

[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 forces, 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. 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, the position information of the pipeline robot and the deformation and crack conditions of the pipeline are determined; wherein, the first RFID tag laying device and the second RFID tag laying device are continuously updated as the pipeline robot moves, thereby continuously obtaining the position information of the pipeline robot and the deformation and crack conditions of each continuous pipe section in the pipeline in real time, avoiding missing the deformation and crack conditions of the pipeline, and improving 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 deployment device includes a resistive deformation detection unit, a first antenna unit, and an RFID chip. 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 further configured to send electromagnetic wave signals;

[0069] 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.

[0070] In this embodiment, the electromagnetic wave signal sent by the radio frequency identification tag reader / writer is a radio frequency signal; when 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 frequencies 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 changes in the resistance of a material. By using the resistive strain gauge, the deformation and crack conditions of corresponding pipeline points are confirmed through 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 layout 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, sends 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. In this case, the electromagnetic wave signal is a return signal.

[0078] The RFID tag reader / writer device 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 arrangement device in response to the radio frequency signal and a second return signal sent by the second radio frequency identification tag arrangement 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 power 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 the 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 enable 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 to the control system of the pipeline robot to control the transmission and reception of signals of the radio frequency identification tag reader 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 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. However, within a preset second time period, it receives a second return signal sent by the second RFID tag deployment device in response to the RFID signal. This 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, methods for inspecting 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 include physical inspection, ultrasonic inspection, and camera monitoring.

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

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

[0101] 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's RF signal.

[0102] In this embodiment, if the RFID tag reading and writing device does not receive the return signal sent by the RFID tag deployment 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 reader / writer and is sent to the radio frequency identification tag deployment device.

[0106] S302: The RFID tag placement device responds to the RFID tag reader / writer's radio frequency signal and sends the pipeline tag information to the RFID tag reader / writer via a return signal. The pipeline tag information is stored in the RFID tag placement device.

[0107] In this embodiment, the RFID tag deployment device responds to the RFID signal transmitted 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. Receive, through 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 determine the position information of the pipeline robot based on 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 are screened, namely the return signals sent by the RFID tag deployment devices located at both ends of the pipeline robot, to obtain the first return signal and the second return signal.

[0110] Determining the position information of the pipeline robot according to the first return signal and the second return signal includes:

[0111] Obtaining first pipeline point information (X1, Y1, Z1) of the first RFID tag deployment device in the first return signal, and second pipeline point 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 deployment device and the distance r2 between the RFID tag reader and the second RFID tag deployment device are calculated respectively; wherein, the calculation formulas for 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 the 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. 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 as follows: during the movement of the pipeline robot, the RFID tag placement device responds to the RFID signal emitted by the RFID tag reader / writer, and sends the pipeline tag information stored in the first RFID tag placement device and the pipeline tag information stored in the second RFID tag placement device to the RFID tag reader / writer via the first return signal and the second return signal, respectively, for calculation 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 further includes:

[0120] S501: Send 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 reader / writer is a radio frequency signal.

[0122] S502. Receive electromagnetic wave signals through the RFID tag deployment device, detect deformation and crack conditions of the pipeline points corresponding to the RFID tag deployment device based on the electromagnetic wave signals, and store the deformation and crack conditions of the pipeline points at the corresponding positions in the pipeline tag information at the corresponding positions.

[0123] In this embodiment, the RFID tag deployment device includes an RFID chip. The RFID chip 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 and converts the electromagnetic energy in the RF signal into electrical energy. The resistance deformation monitoring unit in the RFID tag deployment device determines the resistance change value ΔR of the resistance deformation detection unit. The calculation formula of the resistance change value ΔR of the resistance deformation detection unit is as follows:

[0126]

[0127] Where R is the normal resistance value of each resistance strain gauge in the resistance deformation monitoring unit when it is not deformed, 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 position.

[0132] Furthermore, the UHF RFID tag also includes the corresponding pipe strain deformation conditions of the current size and material pipe under different strain values, and compares the obtained deformation and crack conditions ε of the pipe point with the corresponding pipe strain deformation conditions of the current size and material pipe under different strain values. When the obtained deformation and crack conditions ε of the pipe point meet the preset set values, the deformation and crack conditions ε of the pipe point and the pipe strain deformation conditions of the pipe point are recorded, and an early warning message is generated to prompt the strain deformation condition 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 point through the electrical energy and the resistance in the resistive deformation detection unit, and stores the obtained deformation and crack conditions of the pipeline point 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, which includes:

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

[0137] a return module, configured to send the pipeline tag information to the RFID tag reader / writer via a return signal in response to the RFID tag placement device transmitting the RFID tag reader / writer, wherein the pipeline tag information is stored in the RFID tag placement device;

[0138] A positioning module is used to receive, through an RFID tag reading and writing device, a first return signal sent by a first RFID tag laying device in response to a RFID signal and a second return signal sent by a second RFID tag laying device in response to a RFID signal, and determine the position information of the pipeline robot based on 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 the two ends of the pipeline robot when returning the first return signal and the second return signal.

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

[0140] In one possible implementation, the pipeline robot positioning device also includes a detection module for receiving electromagnetic wave signals through the radio frequency identification tag deployment device, detecting the deformation and crack conditions of the pipeline point corresponding to the position of the radio frequency identification tag deployment device based on the electromagnetic wave signals, and storing 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 effects are similar, and will not be described in detail in this embodiment.

[0142] This 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, memory, and 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 the at least one processor performs the above method.

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

[0145] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), 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 present invention may be directly implemented by a hardware processor or implemented 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 (NVM), such as at least one disk memory.

[0147] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just 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 memory 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-purpose 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 an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (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 merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0152] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[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 and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0155] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0156] Finally, it should be noted that those skilled in the art will readily identify 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 that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A pipeline robot detection and positioning system, characterized in that: It includes an RFID tag reader / writer and multiple RFID tag placement devices, wherein the RFID tag reader / writer and multiple RFID tag placement 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 respond to the radio frequency signal emitted by the RFID tag reading and writing device, and send the pipeline tag information to the RFID tag reading and writing device through a return signal; The RFID tag reading and writing device is set on the pipeline robot, and the RFID tag reading and writing device is used to transmit a radio frequency signal and receive a first return signal sent by the first RFID tag laying device in response to the radio frequency signal and a second return signal sent by the second RFID tag laying device in response to the radio frequency signal. According to the first return signal and the second return signal, the position information of the pipeline robot and the deformation and crack conditions of the pipeline are determined, 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 the 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 placement device is also used to detect the deformation and crack conditions of the pipeline point at the corresponding position of the RFID tag placement device based on 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 placement device includes a resistive deformation detection unit, a first antenna unit, and an 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 arrangement device; The RFID chip is used to detect deformation and crack conditions of the pipeline points corresponding to the 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 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 via 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 includes 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 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 further configured to control the signal transmission period and signal reception period of the read / write circuit via 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 based on 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 based on 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 configured to obtain first pipeline point information and second pipeline point information based on the first return signal and the second return signal, and determine, based on the first pipeline point information and the second pipeline point information, 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.

8. The pipeline robot detection and positioning system according to claim 7, characterized in that: The control circuit is further configured 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 an invalid RFID tag exists 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 further includes a camera; The camera is connected to the pipeline robot; 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's radio frequency signal.

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 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, 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 the 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 corresponding to the 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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