Intelligent pipe network signal transmission system and signal transmission method thereof

Abstract

The invention relates to the field of pipeline detection, and particularly discloses an intelligent pipe network signal transmission system and a signal transmission method thereof.The intelligent pipe network signal transmission system comprises a signal transmitting module used for transmitting a first control instruction and a second control instruction; the signal receiving module is used for receiving a first control instruction; the feedback module is used for transmitting a first feedback instruction after the signal receiving module receives the first control instruction; the feedback receiving module is used for receiving a first feedback instruction; after the relay module receives the second control instruction, the relay module can transmit the received instruction to the signal receiving module; when the signal transmitting module transmits a first control instruction and the feedback receiving module cannot receive a first feedback instruction, the signal transmitting module transmits the first control instruction and a second control instruction, and the relay module receives the first control instruction and the second control instruction and transmits the first control instruction. The method has the effect of solving the problem of control failure of the cableless pipeline robot.

Description

Technical Field

[0001] The present invention relates to the field of pipeline detection, and in particular to an intelligent pipeline network signal transmission system and a signal transmission method thereof. Background Art

[0002] Railway transportation, road transportation, water transportation, air transportation and pipeline transportation, as the five major modes of transportation in the national economy, play an important role in economic production. Currently, the safety inspection of oil and natural gas pipelines has attracted widespread attention from more and more scientific researchers.

[0003] In the safety inspection of urban pipelines, pipeline robots are needed. According to whether they are operated with cables, pipeline robots can be divided into cable-based and cable-free modes. For cable-free pipeline robots, their operation needs to be controlled by a remote controller. However, due to the electromagnetic shielding effect of metal pipe networks, the control commands of the remote controller are easily interfered with or even lost, resulting in control failure of the cable-free pipeline robot. Summary of the invention

[0004] The object of the present invention is to provide an intelligent pipe network signal transmission system and a signal transmission method thereof, so as to solve the control failure problem of the cable-free pipeline robot proposed in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] In the first aspect, the present application discloses an intelligent pipeline signal transmission system, which includes a signal transmitting module, which is used to transmit a first control instruction and a second control instruction; a signal receiving module, which is arranged in a pipeline robot, and is used to receive the first control instruction; a feedback module, which is arranged in the pipeline robot, and when the signal receiving module receives the first control instruction, the feedback module transmits a first feedback instruction; a feedback receiving module, which is used to receive the first feedback instruction; a relay module, which is arranged outside the pipeline, and when it receives the second control instruction, it can transmit the received instruction to the signal receiving module; when the signal transmitting module transmits the first control instruction and the feedback receiving module cannot receive the first feedback instruction, the signal transmitting module transmits the first control instruction and the second control instruction, the relay module receives the first control instruction and the second control instruction, and transmits the first control instruction.

[0007] By adopting the above technical solution, when the pipeline robot and the signal transmitting module are close to each other, the signal receiving module can receive the first control instruction, and the pipeline robot performs related operations according to the first control instruction. At this time, although the relay module can also receive the first control instruction, the signal transmitting module does not transmit the second control instruction, the relay module will not transmit the first control instruction to the signal receiving module, and the signal receiving module will not receive the first control instruction repeatedly.

[0008] When the distance between the pipeline robot and the signal transmitting module is far, after the signal transmitting module transmits the first control instruction, the signal receiving module cannot directly receive the first control instruction, and the feedback receiving module cannot receive the first feedback instruction. At this time, the signal transmitting module sends the first control instruction and the second control instruction, the relay module receives the first control instruction and the second control instruction, and sends the received first control instruction to the signal receiving module. The signal receiving module receives the first control instruction, and the pipeline robot performs related operations according to the first control instruction.

[0009] From the above, it can be seen that when the pipeline robot and the signal transmitting module are close to each other, the signal transmitting module and the signal receiving module can directly transmit signals. When the pipeline robot and the signal transmitting module are far away, the first control instruction transmitted by the signal transmitting module can be indirectly transmitted to the signal receiving module through the relay module, so that the pipeline robot can receive the control instruction transmitted by the signal transmitting module when operating at close distance and long distance, solving the problem of control failure of the cable-free pipeline robot.

[0010] In a further embodiment, a plurality of the relay modules are arranged at intervals along the extension direction of the pipeline, and each of the relay modules is also used to receive the first feedback instruction, and signals are connected between two adjacent relay modules; when one of the relay modules receives the second control instruction, it transmits the first control instruction, and the relay module determines whether the first feedback instruction is received. If the first feedback instruction is received, the second control instruction is not sent. If the first feedback instruction is not received, the second control instruction is sent to the downstream relay module.

[0011] By adopting the above technical solution, when the relay module that transmits the first control instruction receives the first feedback instruction, it means that the pipeline robot and the relay module are still within the communication range, and there is no need for the downstream relay module to communicate. When the relay module that transmits the first control instruction does not receive the first feedback instruction, the pipeline robot and the relay module are not within the communication range, and the downstream relay module and the pipeline robot need to communicate. By setting up multiple relay modules, the pipeline network signal transmission system can transmit a longer distance.

[0012] In a further embodiment, after the relay module receives the first feedback instruction, the relay module transmits a second feedback instruction, and the second feedback instruction is transmitted to the feedback receiving module through a plurality of the upstream relay modules.

[0013] By adopting the above technical solution, after the pipeline robot receives the first control instruction, it proves that it has received the first control instruction by feeding back the first feedback instruction. The relay module continues to prove that the pipeline robot has received the first control instruction by feeding back the second feedback instruction, so that the control of the pipeline robot forms a closed loop.

[0014] In a further embodiment, each of the relay modules may also transmit a third feedback instruction. After receiving the second control instruction, the last relay module that receives the second control instruction transmits the third feedback instruction to the upstream relay module. The third feedback instruction is transmitted to the feedback receiving module through several upstream relay modules.

[0015] By adopting the above technical solution, each relay module can also provide feedback after receiving the second control instruction, so that the control of the relay module also forms a closed loop, thereby improving the reliability of the control of the pipeline network signal transmission system.

[0016] In a further embodiment, each of the relay modules is also connected to a starting component, which is used to control the start and stop of the relay module; after the signal receiving module receives the first control instruction, the feedback module transmits a starting instruction, and after the starting component receives the starting instruction, it controls the relay module corresponding to the starting component to start.

[0017] By adopting the above technical solution, when the pipeline robot is far away from the downstream relay module, the downstream relay module will not start. When the pipeline robot and the downstream relay module are within the communication range, the pipeline robot and the downstream relay module are close to each other, and the nearest downstream relay module is started at this time, which is convenient for subsequent timely signal transmission. Through such a setting, multiple relay modules can be turned on as needed, reducing the energy consumption of the pipeline network signal transmission system.

[0018] In a further embodiment, a cloud module is further included, the signal transmitting module is signal-connected to the cloud module, the feedback receiving module is signal-connected to the cloud module, and each of the relay modules is signal-connected to the cloud module.

[0019] By adopting the above technical solution, after the signal transmitting module transmits the first control instruction, it can not only transmit it downstream one by one through multiple relay modules, but also first transmit the first control instruction to the cloud module, and then the cloud module directly transmits the signal to the target relay module, thereby improving the efficiency of signal transmission.

[0020] In a further embodiment, the second feedback instruction transmitted by each of the relay modules is also fed back to the cloud module, and the cloud module counts the received second feedback instructions.

[0021] By adopting the above technical solution, on the one hand, the cloud module can count the number of relay modules currently participating in signal transmission by processing the second feedback instruction, and then further estimate the approximate distance the pipeline robot is currently walking according to the distance between two adjacent relay modules. On the other hand, by counting the number of second feedback instructions, it can be determined whether the relay modules participating in signal transmission are damaged, further improving the reliability of the pipeline network signal transmission system.

[0022] In a further embodiment, it also includes an information feedback module and an information receiving module, the information feedback module is arranged in the pipeline robot, and the information receiving module and the cloud module are connected by signal; the information collected by the pipeline robot is fed back to the adjacent relay module through the information feedback module, the relay module transmits the information to the cloud module, and the cloud module transmits the information to the information receiving module.

[0023] By adopting the above technical solution, the information collected by the pipeline robot can be transmitted to the information receiving module through the cloud module, making the transmission of the pipeline robot information more convenient.

[0024] On the other hand, the present application also discloses a signal transmission method for an intelligent pipe network signal transmission system, which includes: a signal transmitting module transmits a first control instruction; if the signal receiving module receives the first control instruction, the feedback module transmits a first feedback instruction, and the feedback receiving module receives the first feedback instruction; if the signal receiving module cannot receive the first control instruction, the feedback receiving module cannot receive the first feedback instruction, and the signal transmitting module transmits the first control instruction and the second control instruction; after receiving the second control instruction, the relay module can transmit the first control instruction it received to the signal receiving module.

[0025] Compared with the prior art, the beneficial effect of the present invention is that when the pipeline robot and the signal transmitting module are close to each other, the signal transmitting module and the signal receiving module can directly transmit signals. When the pipeline robot and the signal transmitting module are far away, the first control instruction transmitted by the signal transmitting module can be indirectly transmitted to the signal receiving module through the relay module, so that the pipeline robot can receive the control instruction transmitted by the signal transmitting module when operating at close distance and long distance, solving the problem of control failure of the cable-free pipeline robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of signal transmission between the external control layer and the pipeline robot in an embodiment of the present application;

[0027] Figure 2 This is a schematic diagram of signal transmission between an external control layer, a pipeline robot and a relay module in an embodiment of the present application;

[0028] Figure 3 This is a schematic diagram of signal transmission among an external control layer, a pipeline robot and multiple relay modules in an embodiment of the present application;

[0029] Figure 4 This is a schematic diagram of signal transmission among an external control layer, a pipeline robot, a cloud module, and multiple relay modules in an embodiment of the present application;

[0030] Figure 5 This is a flow chart of signal transmission of the intelligent pipe network signal transmission system in an embodiment of the present application.

[0031] In the figure: 1. Signal transmission module; 2. Signal receiving module; 3. Feedback module; 4. Feedback receiving module; 5. Relay module; 6. Cloud module; 7. Information feedback module; 8. Information receiving module. DETAILED DESCRIPTION

[0032] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] The present application provides an embodiment of an intelligent pipeline network signal transmission system, which includes an external control layer, a pipeline robot and a relay module 5. When the distance between the pipeline robot and the external control layer is relatively close, the external control layer and the pipeline robot directly transmit signals. When the distance between the pipeline robot and the external control layer is relatively far, the signal of the external control layer is first transmitted to the relay module 5, and then the relay module 5 transmits the signal to the relay module 5, thereby ensuring that the pipeline robot can be controlled by the external control layer in a larger range, solving the problem of control failure of the cable-free pipeline robot.

[0036] Specifically, refer to Figure 1-Figure 2 , the external control layer includes a signal transmitting module 1 and a feedback receiving module 4, and a signal receiving module 2 and a feedback module 3 are provided on the pipeline robot. The signal transmitting module 1 is used to transmit the first control instruction and the second control instruction, and the signal receiving module 2 is provided on the pipeline robot to receive the first control instruction. The feedback module 3 is provided on the pipeline robot, and when the signal receiving module 2 receives the first control instruction, the feedback module 3 transmits the first feedback instruction. The feedback receiving module 4 is used to receive the first feedback instruction, and the relay module 5 is provided outside the pipeline, and when it receives the second control instruction, it can transmit the received instruction to the signal receiving module 2. When the signal transmitting module 1 transmits the first control instruction and the feedback receiving module 4 cannot receive the first feedback instruction, the signal transmitting module 1 transmits the first control instruction and the second control instruction, and the relay module 5 receives the first control instruction and the second control instruction, and transmits the first control instruction.

[0037] When the pipeline robot and the signal transmitting module 1 are close to each other, the signal receiving module 2 can receive the first control instruction, and the pipeline robot performs related operations according to the first control instruction. At this time, although the relay module 5 can also receive the first control instruction, the signal transmitting module 1 does not transmit the second control instruction, the relay module 5 will not transmit the first control instruction to the signal receiving module 2, and the signal receiving module 2 will not receive the first control instruction repeatedly.

[0038] When the distance between the pipeline robot and the signal transmitting module 1 is far, after the signal transmitting module 1 transmits the first control instruction, the signal receiving module 2 cannot directly receive the first control instruction, and the feedback receiving module 4 cannot receive the first feedback instruction. At this time, the signal transmitting module 1 sends the first control instruction and the second control instruction, the relay module 5 receives the first control instruction and the second control instruction, and sends the received first control instruction to the signal receiving module 2. The signal receiving module 2 receives the first control instruction, and the pipeline robot performs related operations according to the first control instruction.

[0039] From the above, it can be known that when the pipeline robot is close to the signal transmitting module 1, the signal transmitting module 1 can directly transmit signals to the signal receiving module 2. When the pipeline robot is far away from the signal transmitting module 1, the first control instruction transmitted by the signal transmitting module 1 can be indirectly transmitted to the signal receiving module 2 through the relay module 5, so that the pipeline robot can receive the control instruction transmitted by the signal transmitting module 1 when operating at close range or long distance, solving the problem of control failure of the cable-free pipeline robot.

[0040] Further, see Figure 1-Figure 3 In order to expand the control range of the external control layer, a plurality of relay modules 5 are arranged at intervals along the extension direction of the pipeline, and each relay module 5 is also used to receive the first feedback instruction, and the signals between two adjacent relay modules 5 are connected; when one of the relay modules 5 receives the second control instruction, it transmits the first control instruction, and the relay module 5 determines whether the first feedback instruction is received. If the first feedback instruction is received, the second control instruction is not sent. If the first feedback instruction is not received, the second control instruction is sent to the downstream relay module 5.

[0041] When the relay module 5 that transmits the first control instruction receives the first feedback instruction, it means that the pipeline robot and the relay module 5 are still within the communication range, and there is no need for the downstream relay module 5 to communicate. When the relay module 5 that transmits the first control instruction does not receive the first feedback instruction, the pipeline robot and the relay module 5 are not within the communication range, and the downstream relay module 5 needs to communicate with the pipeline robot. By setting multiple relay modules 5, the pipeline network signal transmission system can transmit a longer distance.

[0042] Further, see Figure 1-Figure 3 When the relay module 5 receives the first feedback instruction, the relay module 5 sends a second feedback instruction, and the second feedback instruction is transmitted to the feedback receiving module 4 through several upstream relay modules 5.

[0043] After receiving the first control instruction, the pipeline robot proves that it has received the first control instruction by feeding back the first feedback instruction. The relay module 5 continues to prove that the pipeline robot has received the first control instruction by feeding back the second feedback instruction, so that the control of the pipeline robot forms a closed loop.

[0044] Further, see Figure 1-Figure 3 Each relay module 5 can also transmit a third feedback instruction. After receiving the second control instruction, the last relay module 5 that receives the second control instruction transmits the third feedback instruction to the upstream relay module 5. The third feedback instruction is transmitted to the feedback receiving module 4 through several upstream relay modules 5.

[0045] Through the above implementation, each relay module 5 can also provide feedback after receiving the second control instruction, so that the control of the relay module 5 also forms a closed loop, thereby improving the reliability of the control of the pipeline network signal transmission system.

[0046] Further, see Figure 1-Figure 3 Each relay module 5 is also connected to a starting component, which is used to control the start and stop of the relay module 5; after the signal receiving module 2 receives the first control instruction, the feedback module 3 transmits the starting instruction, and after the starting component receives the starting instruction, it controls the relay module 5 corresponding to the starting component to start.

[0047] Through the above implementation, when the pipeline robot is far away from the downstream relay module 5, the downstream relay module 5 is not started. When the pipeline robot and the downstream relay module 5 are within the communication range, the pipeline robot and the downstream relay module 5 are close to each other, and the nearest downstream relay module 5 is started, which is convenient for subsequent timely signal transmission. Through such a setting, multiple relay modules 5 can be turned on as needed, reducing the energy consumption of the pipeline network signal transmission system.

[0048] Further, see Figure 1-Figure 3 The pipe network signal transmission system also includes a cloud module 6, a signal transmitting module 1 and a cloud module 6 are signal-connected, a feedback receiving module 4 and a cloud module 6 are signal-connected, and each relay module 5 and a cloud module 6 are signal-connected.

[0049] After the signal transmitting module 1 transmits the first control instruction, it can not only transmit it downstream one by one through multiple relay modules 5, but also first transmit the first control instruction to the cloud module 6, and then the cloud module 6 directly transmits the signal to the target relay module 5, thereby improving the efficiency of signal transmission.

[0050] Based on the above settings, the second feedback instruction transmitted by each relay module 5 is also fed back to the cloud module 6, and the cloud module 6 counts the received second feedback instructions.

[0051] On the one hand, the cloud module 6 counts the second feedback instructions, and can count the number of relay modules 5 currently participating in signal transmission, and then the approximate distance currently traveled by the pipeline robot can be further estimated according to the distance between two adjacent relay modules 5. On the other hand, by counting the number of second feedback instructions, it can be determined whether the relay modules 5 participating in signal transmission are damaged, further improving the reliability of the pipeline network signal transmission system.

[0052] Further, see Figure 1-Figure 4 The pipeline robot is also provided with an information feedback module 7, and the external control layer also includes an information receiving module 8. The information feedback module 7 is arranged in the pipeline robot, and the information receiving module 8 and the cloud module 6 are connected by signals; the information collected by the pipeline robot is fed back to the adjacent relay module 5 through the information feedback module 7, and the relay module 5 transmits the information to the cloud module 6, and the cloud module 6 transmits the information to the information receiving module 8.

[0053] The information collected by the pipeline robot can be transmitted to the information receiving module 8 through the cloud module 6, making the transmission of the pipeline robot information more convenient.

[0054] Based on the above-mentioned intelligent pipe network signal transmission system, the present application also discloses a signal transmission method of the intelligent pipe network signal transmission system, which comprises the following steps:

[0055] S1, signal transmitting module 1 transmits a first control instruction;

[0056] S2, if the signal receiving module 2 receives the first control instruction, the feedback module 3 transmits the first feedback instruction, and the feedback receiving module 4 receives the first feedback instruction;

[0057] S3, if the signal receiving module 2 fails to receive the first control instruction, the feedback receiving module 4 fails to receive the first feedback instruction, and the signal transmitting module 1 transmits the first control instruction and the second control instruction;

[0058] S4. After receiving the second control instruction, the relay module 5 may transmit the received first control instruction to the signal receiving module 2.

[0059] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0060] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An intelligent pipe network signal transmission system, comprising: A signal transmitting module (1), used for transmitting a first control instruction and a second control instruction; A signal receiving module (2), which is arranged on the pipeline robot and is used to receive the first control instruction; A feedback module (3) is arranged on the pipeline robot, and when the signal receiving module (2) receives the first control instruction, the feedback module (3) transmits a first feedback instruction; A feedback receiving module (4), configured to receive the first feedback instruction; A relay module (5) is arranged outside the pipeline and can transmit the received instruction to the signal receiving module (2) after receiving the second control instruction; When the signal transmitting module (1) transmits the first control instruction and the feedback receiving module (4) fails to receive the first feedback instruction, the signal transmitting module (1) transmits the first control instruction and the second control instruction, the relay module (5) receives the first control instruction and the second control instruction, and transmits the first control instruction.

2. The intelligent pipe network signal transmission system according to claim 1, characterized in that: A plurality of the relay modules (5) are arranged at intervals along the extension direction of the pipeline, each of the relay modules (5) is further used to receive the first feedback instruction, and two adjacent relay modules (5) are signal-connected; When one of the relay modules (5) receives the second control instruction, it transmits the first control instruction, and the relay module (5) determines whether it has received the first feedback instruction. If it has received the first feedback instruction, it does not continue to send the second control instruction. If it has not received the first feedback instruction, it continues to send the second control instruction to the downstream relay module (5).

3. The intelligent pipe network signal transmission system according to claim 2, characterized in that: When the relay module (5) receives the first feedback instruction, the relay module (5) transmits a second feedback instruction, and the second feedback instruction is transmitted to the feedback receiving module (4) through a plurality of the upstream relay modules (5).

4. The intelligent pipe network signal transmission system according to claim 3, characterized in that: Each of the relay modules (5) may also transmit a third feedback instruction. After receiving the second control instruction, the last relay module (5) that receives the second control instruction transmits the third feedback instruction to the upstream relay module (5). The third feedback instruction is transmitted to the feedback receiving module (4) through several upstream relay modules (5).

5. The intelligent pipe network signal transmission system according to claim 2, characterized in that: Each of the relay modules (5) is also connected to a starting component, and the starting component is used to control the start and stop of the relay module (5); After the signal receiving module (2) receives the first control instruction, the feedback module (3) transmits a start instruction, and after the start component receives the start instruction, the relay module (5) corresponding to the start component is controlled to start.

6. The intelligent pipe network signal transmission system according to claim 3, characterized in that: It also includes a cloud module (6), the signal transmission module (1) and the cloud module (6) are signal-connected, the feedback receiving module (4) and the cloud module (6) are signal-connected, and each of the relay modules (5) and the cloud module (6) are signal-connected.

7. The intelligent pipe network signal transmission system according to claim 6, characterized in that: The second feedback instruction transmitted by each of the relay modules (5) is also fed back to the cloud module (6), and the cloud module (6) counts the received second feedback instructions.

8. The intelligent pipe network signal transmission system according to claim 6, characterized in that , further comprising an information feedback module (7) and an information receiving module (8), wherein the information feedback module (7) is arranged on the pipeline robot, and the information receiving module (8) is signal-connected with the cloud module (6); The information collected by the pipeline robot is fed back to the adjacent relay module (5) via the information feedback module (7), the relay module (5) transmits the information to the cloud module (6), and the cloud module (6) transmits the information to the information receiving module (8).

9. A signal transmission method of an intelligent pipe network signal transmission system according to any one of claims 1 to 8, characterized in that: The following steps are involved: The signal transmitting module (1) transmits a first control instruction; If the signal receiving module (2) receives the first control instruction, the feedback module (3) transmits a first feedback instruction, and the feedback receiving module (4) receives the first feedback instruction; If the signal receiving module (2) fails to receive the first control instruction, the feedback receiving module (4) fails to receive the first feedback instruction, and the signal transmitting module (1) transmits the first control instruction and the second control instruction; After receiving the second control instruction, the relay module (5) can transmit the received first control instruction to the signal receiving module (2).

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