Method and device for identifying operation tool in buried pipeline and storage medium

Abstract

The embodiment of the invention provides a method and device for identifying an operation tool in a buried pipeline and a storage medium. The method comprises the following steps: collecting optical fiber signals of the buried pipeline, wherein the optical fiber signals comprise internal signals generated in the buried pipeline and external signals generated outside the buried pipeline; filtering the external signal, and enhancing the internal signal to obtain a processed optical fiber signal; extracting time-frequency characteristics of the processed optical fiber signals; judging whether a tool vibration signal generated by vibration of an operation tool in the buried pipeline exists in the processed optical fiber signal or not according to the time-frequency characteristics; under the condition that the tool vibration signal exists, determining an operation tool type corresponding to the tool vibration signal; acquiring a position tracking signal of the operation tool corresponding to the operation tool type; the position tracking signal and the tool vibration signal are synchronized in time and space, the position of the operation tool in the buried pipeline is obtained, and the position of the operation tool can be accurately recognized in the complex environment of the buried pipeline.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline detection, and in particular to a method, a device and a storage medium for identifying working tools in a buried pipeline. Background Art

[0002] In the existing technology, optical fiber sensing technology is widely used in pipeline monitoring and safety detection systems, which can capture potential pipeline safety risks by monitoring the strain, temperature and other change signals around the pipeline. However, in the complex environment inside the pipeline, especially in areas such as bends and diameter changes, traditional tracking methods are difficult to accurately track the position of the working tool, and the position recognition accuracy is low. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method, device and storage medium for identifying working tools in a buried pipeline, so as to solve the problem of inaccurate position identification of working tools in the prior art.

[0004] In order to achieve the above-mentioned object, the first aspect of the present application provides a method for identifying an operating tool in a buried pipeline, comprising:

[0005] Collecting optical fiber signals of the buried pipeline, the optical fiber signals include internal signals generated in the buried pipeline and external signals generated outside the buried pipeline;

[0006] Filter out external signals and enhance internal signals to obtain processed optical fiber signals;

[0007] Extracting time-frequency characteristics of processed optical fiber signals;

[0008] determining whether there is a tool vibration signal generated by the vibration of the working tool in the buried pipeline in the processed optical fiber signal according to the time-frequency characteristics;

[0009] In the presence of a tool vibration signal, determining a work tool type corresponding to the tool vibration signal;

[0010] Acquire a position tracking signal of a work tool corresponding to the type of work tool;

[0011] The position tracking signal and the tool vibration signal are synchronized in time and space to obtain the position of the working tool in the buried pipeline.

[0012] In an embodiment of the present application, filtering out external signals includes: determining frequency characteristics and waveform characteristics of the external signals; determining filtering parameters according to the frequency characteristics and waveform characteristics; and filtering out external signals according to the filtering parameters.

[0013] In an embodiment of the present application, determining the type of working tool corresponding to the tool vibration signal includes: inputting the tool vibration signal into a classification model so that the classification model outputs the type of working tool corresponding to the tool vibration signal.

[0014] In an embodiment of the present application, the method further includes: obtaining the installation position of each detection device in the buried pipeline; and correcting the position of the working tool in the buried pipeline according to all the installation positions.

[0015] In an embodiment of the present application, correcting the position of the working tool in the buried pipeline according to all the installation positions includes: determining the predicted position of the working tool according to all the installation positions; determining the error between the predicted position and the position through a Kalman filtering algorithm; and correcting the position of the working tool in the buried pipeline according to the error.

[0016] In an embodiment of the present application, the method further includes: generating a waterfall diagram according to the optical fiber signal, the waterfall diagram including an internal signal and an external signal; and updating the waterfall diagram according to the tool vibration signal.

[0017] In an embodiment of the present application, the method further includes: determining the working state of the working tool according to the tool vibration signal, the working state including a normal state and an abnormal state; and sending an alarm prompt when the working state is an abnormal state.

[0018] In an embodiment of the present application, the working tool includes a pipe cleaner and an endoscope.

[0019] A second aspect of the present application provides a device for identifying a working tool in a buried pipeline, comprising:

[0020] a memory configured to store instructions;

[0021] The processor is configured to call instructions from the memory and implement the above method for identifying a working tool in a buried pipeline when executing the instructions.

[0022] A third aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configure the processor to execute the above-mentioned method for identifying working tools in a buried pipeline.

[0023] Through the above technical scheme, the optical fiber signal of the buried pipeline is collected, the external signal is filtered out, and the internal signal is enhanced to obtain the processed optical fiber signal; the time-frequency characteristics of the processed optical fiber signal are extracted; based on the time-frequency characteristics, it is determined whether there is a tool vibration signal generated by the vibration of the working tool in the buried pipeline in the processed optical fiber signal; in the case of the presence of the tool vibration signal, the type of working tool corresponding to the tool vibration signal is determined; the position tracking signal of the working tool corresponding to the type of working tool is obtained; the position tracking signal and the tool vibration signal are synchronized in time and space to obtain the position of the working tool in the buried pipeline, and the position tracking error is reduced through the synchronous analysis of time and space data, so that the position of the working tool can be accurately identified in the complex environment of the buried pipeline.

[0024] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0026] Figure 1 A schematic diagram of a process flow of a method for identifying an operating tool in a buried pipeline according to an embodiment of the present application is shown;

[0027] Figure 2 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0029] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0030] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0031] Figure 1 The flowchart of the method for identifying working tools in a buried pipeline according to an embodiment of the present application is schematically shown. Figure 1 As shown, in one embodiment of the present application, a method for identifying an operating tool in a buried pipeline is provided, comprising the following steps:

[0032] Step 101: Collecting optical fiber signals of a buried pipeline, where the optical fiber signals include internal signals generated in the buried pipeline and external signals generated outside the buried pipeline.

[0033] An optical fiber array may be laid around the buried pipeline, and the optical fiber sensor monitors the change signals of physical quantities such as strain and temperature in the buried pipeline in real time through the optical fiber array laid around the buried pipeline, that is, the optical fiber signal of the buried pipeline. The processor may collect the optical fiber signal of the buried pipeline. The optical fiber signal includes an internal signal generated in the buried pipeline and an external signal generated outside the buried pipeline.

[0034] Step 102: Filter out external signals and enhance internal signals to obtain processed optical fiber signals.

[0035] In order to ensure that the signal for subsequent analysis is clearer and more accurate, the processor can filter out external signals and enhance internal signals to obtain processed fiber optic signals. The processed fiber optic signals refer to the fiber optic signals that have been filtered and enhanced.

[0036] In an embodiment of the present application, filtering out external signals includes: determining frequency characteristics and waveform characteristics of the external signals; determining filtering parameters according to the frequency characteristics and waveform characteristics; and filtering out external signals according to the filtering parameters.

[0037] When filtering out external signals in the optical fiber signal, the processor can determine the frequency characteristics and waveform characteristics of the external signal, and can determine the filtering parameters according to the frequency characteristics and waveform characteristics. Afterwards, the processor can filter out the external signal according to the filtering parameters. The above scheme can effectively filter out external signals from the external environment and accurately filter out interference caused by external factors such as vehicles, trains, and earthquakes outside the buried pipeline.

[0038] In one embodiment, an external interference model can be established to filter out external signals. Specifically, historical data and environmental models can be used to establish external interference signal characteristics, design targeted filtering algorithms, and identify and remove external interference signals in real time.

[0039] Step 103: extracting the time-frequency characteristics of the processed optical fiber signal.

[0040] After obtaining the processed optical fiber signal, the processor may extract the time-frequency characteristics of the processed optical fiber signal. For example, a neural network may be trained to extract the time-frequency characteristics of the processed optical fiber signal through the trained neural network. The neural network may include a deep neural network such as DNN, and a convolutional neural network such as CNN.

[0041] Step 104: Determine whether there is a tool vibration signal generated by the vibration of the working tool in the buried pipeline in the processed optical fiber signal according to the time-frequency characteristics.

[0042] The processed optical fiber signal may include a tool vibration signal generated by the vibration of the working tool in the buried pipeline, and may also include a vibration signal caused by a non-working tool in the buried pipeline, for example, a vibration signal caused by natural vibration in the buried pipeline or other activities inside the buried pipeline. Thus, the processor can determine whether there is a tool vibration signal generated by the vibration of the working tool in the buried pipeline in the processed optical fiber signal according to the time-frequency characteristics.

[0043] Step 105: In the case where there is a tool vibration signal, determine the type of work tool corresponding to the tool vibration signal.

[0044] In the presence of a tool vibration signal, since there are different working tools in the buried pipeline, the vibration signals generated by them may be different. The processor can determine the type of working tool corresponding to the tool vibration signal, that is, it can determine what kind of working tool generated the tool vibration signal.

[0045] In an embodiment of the present application, determining the type of working tool corresponding to the tool vibration signal includes: inputting the tool vibration signal into a classification model so that the classification model outputs the type of working tool corresponding to the tool vibration signal.

[0046] The processor may input the tool vibration signal into the classification model so that the classification model outputs the type of working tool corresponding to the tool vibration signal. The classification model may be trained in advance and may be used to distinguish the type of working tool corresponding to the tool vibration signal.

[0047] The above solution, combined with the deep learning model, can accurately distinguish different types of tool vibration signals and reduce the subsequent false alarm rate.

[0048] Step 106: Acquire a position tracking signal of a work tool corresponding to the type of work tool.

[0049] Step 107: Synchronize the position tracking signal and the tool vibration signal in time and space to obtain the position of the working tool in the buried pipeline.

[0050] The processor can obtain the position tracking signal of the working tool corresponding to the type of the working tool. Among them, the working tool can be installed with a positioning device, which includes but is not limited to GPS. Due to the complex environment inside the buried pipeline, it is difficult to obtain a completely true position signal. For example, there may be certain interference when obtaining the position tracking signal. Therefore, the processor can synchronize the position tracking signal and the tool vibration signal in time and space to obtain the position of the working tool in the buried pipeline.

[0051] In an embodiment of the present application, the working tool includes a pipe cleaner and an endoscope.

[0052] In an embodiment of the present application, the method further includes: obtaining the installation position of each detection device in the buried pipeline; and correcting the position of the working tool in the buried pipeline according to all the installation positions.

[0053] The processor can obtain the installation position of each detection device in the buried pipeline, and can correct the position of the working tool in the buried pipeline according to all the installation positions. Among them, the various detection devices in the buried pipeline include optical fiber sensors, accelerometers, pressure sensors, GPS and other devices.

[0054] In an embodiment of the present application, correcting the position of the working tool in the buried pipeline according to all the installation positions includes: determining the predicted position of the working tool according to all the installation positions; determining the error between the predicted position and the position through a Kalman filtering algorithm; and correcting the position of the working tool in the buried pipeline according to the error.

[0055] The processor may determine the predicted position of the working tool based on all the installation positions. For example, the distance between the installation position of each detection device and the working tool may be determined to determine the predicted position of the working tool. The processor may determine the error between the predicted position and the position through a Kalman filter algorithm. Thereafter, the processor may correct the position of the working tool in the buried pipeline based on the error.

[0056] In the above scheme, the data of different sensors in different situations will be more accurate. For example, the fiber optic sensor is very sensitive to tiny vibrations in the pipeline, but may not be accurate when positioning over long distances; the accelerometer is more accurate when detecting fast movements, but may not perform well in a stationary state. Combining the accuracy and noise characteristics of each sensor, the known reference position is used for auxiliary judgment. After multiple updates and corrections through the Kalman filter algorithm, the actual position of the working tool in the buried pipeline is gradually approached, and the position of the working tool is corrected in real time, making the position of the working tool more accurate.

[0057] In an embodiment of the present application, the method further includes: generating a waterfall diagram according to the optical fiber signal, the waterfall diagram including an internal signal and an external signal; and updating the waterfall diagram according to the tool vibration signal.

[0058] The processor may generate a waterfall diagram based on the optical fiber signal, and may update the waterfall diagram according to the tool vibration signal. For example, the tool vibration signal may be marked with different colors, etc. The waterfall diagram includes an internal signal generated in the buried pipeline and an external signal generated outside the buried pipeline.

[0059] In one embodiment, after the waterfall graph is generated, the external signal in the waterfall graph may be filtered, and the internal signal in the waterfall graph may be enhanced.

[0060] In one embodiment, the diagonal traces of signals generated by work tool dynamics and other vibrations may be highlighted through color coding and image enhancement.

[0061] In one embodiment, image processing algorithms such as Canny edge detection and Hough transform may be applied to analyze the waterfall graph to identify potential threatening events in the waterfall graph, such as the motion trajectory of the working tool or non-threatening events.

[0062] In an embodiment of the present application, the method further includes: determining the working state of the working tool according to the tool vibration signal, the working state including a normal state and an abnormal state; and sending an alarm prompt when the working state is an abnormal state.

[0063] The processor may determine the working state of the working tool according to the tool vibration signal. The working state includes a normal state and an abnormal state. For example, if the working tool deviates from a normal trajectory, it may be determined that the working state of the working tool is an abnormal state. When the working state is an abnormal state, the processor may send an alarm prompt.

[0064] In one embodiment, when the operation status is normal, the processor may not send an alarm prompt.

[0065] Through the above technical scheme, the optical fiber signal of the buried pipeline is collected, the external signal is filtered out, and the internal signal is enhanced to obtain the processed optical fiber signal; the time-frequency characteristics of the processed optical fiber signal are extracted; based on the time-frequency characteristics, it is determined whether there is a tool vibration signal generated by the vibration of the working tool in the buried pipeline in the processed optical fiber signal; in the case of the presence of the tool vibration signal, the type of working tool corresponding to the tool vibration signal is determined; the position tracking signal of the working tool corresponding to the type of working tool is obtained; the position tracking signal and the tool vibration signal are synchronized in time and space to obtain the position of the working tool in the buried pipeline, and the position tracking error is reduced through the synchronous analysis of time and space data, so that the position of the working tool can be accurately identified in the complex environment of the buried pipeline.

[0066] Figure 1 FIG. 1 is a flow chart of a method for identifying an operating tool in a buried pipeline in one embodiment. Figure 1 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 1 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0067] In one embodiment, there is provided a device for identifying a working tool in a buried pipeline, comprising:

[0068] a memory configured to store instructions;

[0069] The processor is configured to call instructions from the memory and implement the above method for identifying a working tool in a buried pipeline when executing the instructions.

[0070] In one embodiment, a storage medium is provided, on which a program is stored. When the program is executed by a processor, the method for identifying a working tool in a buried pipeline is implemented.

[0071] In one embodiment, a processor is provided, and the processor is used to run a program, wherein the program executes the above-mentioned method for identifying a working tool in a buried pipeline when it is run.

[0072] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 2As shown. The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected via a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the non-volatile storage medium A04. The database of the computer device is used to store data such as the location of the working tool. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program B02 is executed by the processor A01, a method for identifying working tools in a buried pipeline is implemented.

[0073] Those skilled in the art will understand that Figure 2 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0074] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: collecting optical fiber signals of a buried pipeline, the optical fiber signals including internal signals generated in the buried pipeline and external signals generated outside the buried pipeline; filtering out external signals and enhancing internal signals to obtain processed optical fiber signals; extracting time-frequency features of the processed optical fiber signals; judging whether there is a tool vibration signal generated by vibration of an operating tool in the buried pipeline in the processed optical fiber signals according to the time-frequency features; in the case of the presence of a tool vibration signal, determining the type of operating tool corresponding to the tool vibration signal; obtaining a position tracking signal of the operating tool corresponding to the type of operating tool; synchronizing the position tracking signal and the tool vibration signal in time and space to obtain the position of the operating tool in the buried pipeline.

[0075] In one embodiment, filtering out the external signal includes: determining the frequency characteristics and waveform characteristics of the external signal; determining filtering parameters according to the frequency characteristics and waveform characteristics; and filtering out the external signal according to the filtering parameters.

[0076] In one embodiment, determining the type of work tool corresponding to the tool vibration signal includes inputting the tool vibration signal into a classification model so that the classification model outputs the type of work tool corresponding to the tool vibration signal.

[0077] In one embodiment, the method further includes: obtaining the installation position of each detection device in the buried pipeline; and correcting the position of the working tool in the buried pipeline according to all the installation positions.

[0078] In one embodiment, correcting the position of the working tool in the buried pipeline according to all the installation positions includes: determining the predicted position of the working tool according to all the installation positions; determining the error between the predicted position and the position through a Kalman filtering algorithm; and correcting the position of the working tool in the buried pipeline according to the error.

[0079] In one embodiment, the method further comprises: generating a waterfall diagram according to the optical fiber signal, the waterfall diagram comprising the internal signal and the external signal; and updating the waterfall diagram according to the tool vibration signal.

[0080] In one embodiment, the method further includes: determining the working state of the working tool according to the tool vibration signal, the working state including a normal state and an abnormal state; and sending an alarm prompt when the working state is an abnormal state.

[0081] In one embodiment, the working tool includes a pipe pig and an endoscope.

[0082] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that is initialized with the following method steps: collecting an optical fiber signal of a buried pipeline, the optical fiber signal including an internal signal generated within the buried pipeline and an external signal generated outside the buried pipeline; filtering out the external signal and enhancing the internal signal to obtain a processed optical fiber signal; extracting the time-frequency characteristics of the processed optical fiber signal; judging whether there is a tool vibration signal generated by the vibration of an operating tool in the buried pipeline in the processed optical fiber signal based on the time-frequency characteristics; in the case of the presence of a tool vibration signal, determining the type of operating tool corresponding to the tool vibration signal; obtaining a position tracking signal of the operating tool corresponding to the type of operating tool; synchronizing the position tracking signal and the tool vibration signal in time and space to obtain the position of the operating tool in the buried pipeline.

[0083] In one embodiment, filtering out the external signal includes: determining the frequency characteristics and waveform characteristics of the external signal; determining filtering parameters according to the frequency characteristics and waveform characteristics; and filtering out the external signal according to the filtering parameters.

[0084] In one embodiment, determining the type of work tool corresponding to the tool vibration signal includes inputting the tool vibration signal into a classification model so that the classification model outputs the type of work tool corresponding to the tool vibration signal.

[0085] In one embodiment, the method further includes: obtaining the installation position of each detection device in the buried pipeline; and correcting the position of the working tool in the buried pipeline according to all the installation positions.

[0086] In one embodiment, correcting the position of the working tool in the buried pipeline according to all the installation positions includes: determining the predicted position of the working tool according to all the installation positions; determining the error between the predicted position and the position through a Kalman filtering algorithm; and correcting the position of the working tool in the buried pipeline according to the error.

[0087] In one embodiment, the method further comprises: generating a waterfall diagram according to the optical fiber signal, the waterfall diagram comprising the internal signal and the external signal; and updating the waterfall diagram according to the tool vibration signal.

[0088] In one embodiment, the method further includes: determining the working state of the working tool according to the tool vibration signal, the working state including a normal state and an abnormal state; and sending an alarm prompt when the working state is an abnormal state.

[0089] In one embodiment, the working tool includes a pipe pig and an endoscope.

[0090] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0091] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0092] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0093] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0094] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0095] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0096] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0097] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0098] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for identifying a working tool in a buried pipeline, characterized in that: The method comprises: collecting optical fiber signals of the buried pipeline, wherein the optical fiber signals include internal signals generated within the buried pipeline and external signals generated outside the buried pipeline; filtering out the external signal and enhancing the internal signal to obtain a processed optical fiber signal; Extracting the time-frequency characteristics of the processed optical fiber signal; determining whether there is a tool vibration signal generated by vibration of a working tool in the buried pipeline in the processed optical fiber signal according to the time-frequency characteristics; in the presence of the tool vibration signal, determining a type of work tool corresponding to the tool vibration signal; Acquire a position tracking signal of a work tool corresponding to the type of work tool; The position tracking signal and the tool vibration signal are synchronized in time and space to obtain the position of the working tool in the buried pipeline.

2. The method for identifying working tools in a buried pipeline according to claim 1, characterized in that: The filtering out the external signal comprises: Determining frequency characteristics and waveform characteristics of the external signal; Determine filtering parameters according to the frequency characteristics and the waveform characteristics; The external signal is filtered out according to the filtering parameters.

3. The method for identifying working tools in a buried pipeline according to claim 1, characterized in that: Determining the type of work tool corresponding to the tool vibration signal includes: The tool vibration signal is input to a classification model so that the classification model outputs a work tool type corresponding to the tool vibration signal.

4. The method for identifying working tools in a buried pipeline according to claim 1, characterized in that: The method further comprises: Obtaining the installation position of each detection device in the buried pipeline; The position of the working tool in the buried pipeline is corrected according to all the installation positions.

5. The method for identifying working tools in a buried pipeline according to claim 4, characterized in that: The step of correcting the position of the working tool in the buried pipeline according to all installation positions includes: Determining a predicted position of the working tool based on all installation positions; Determine the error between the predicted position and the position by a Kalman filter algorithm; The position of the working tool in the buried pipeline is corrected according to the error.

6. The method for identifying working tools in a buried pipeline according to claim 1, characterized in that: The method further comprises: generating a waterfall diagram according to the optical fiber signal, wherein the waterfall diagram includes the internal signal and the external signal; The waterfall graph is updated based on the tool vibration signal.

7. The method for identifying working tools in a buried pipeline according to claim 1, characterized in that: The method further comprises: determining an operating state of the working tool according to the tool vibration signal, wherein the operating state includes a normal state and an abnormal state; When the operation status is abnormal, an alarm prompt is sent.

8. The method for identifying working tools in a buried pipeline according to any one of claims 1 to 7, characterized in that: The working tools include a pipe cleaner and an endoscope.

9. A device for identifying working tools in a buried pipeline, characterized in that: The device comprises: a memory configured to store instructions; A processor is configured to call the instructions from the memory and implement the method for identifying a working tool in a buried pipeline according to any one of claims 1 to 8 when executing the instructions.

10. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by a processor, the processor is configured to perform the method for identifying a working tool in a buried pipeline according to any one of claims 1 to 8.

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