A smart pipeline network signal transmission system and its signal transmission method

Abstract

This invention relates to the field of pipeline inspection, specifically disclosing an intelligent pipeline network signal transmission system and its signal transmission method. The intelligent pipeline network signal transmission system includes a signal transmitting module for transmitting a first control command and a second control command; a signal receiving module for receiving the first control command; a feedback module that, upon receiving the first control command, transmits a first feedback command; a feedback receiving module for receiving the first feedback command; and a relay module that, upon receiving a second control command, transmits the received command to the signal receiving module. When the signal transmitting module transmits the first control command and the feedback receiving module does not receive the first feedback command, the signal transmitting module transmits both the first and second control commands, and the relay module receives both the first and second control commands and then transmits the first control command. This system effectively solves the problem of control failure in cableless pipeline robots.

Description

TECHNICAL FIELD

[0001] The present application 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

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

[0003] In the in-pipe safety inspection of urban pipelines, a pipeline robot needs to be used, and the pipeline robot can be divided into a wired mode and a wireless mode according to whether a wire is used for operation, and for the wireless pipeline robot, the operation needs to be controlled through a remote controller. However, due to the electromagnetic shielding effect of the metal pipeline network, the control instructions of the remote controller are easily disturbed, and even lost, resulting in the failure of the control of the wireless pipeline robot. SUMMARY

[0004] The present application aims to provide an intelligent pipeline network signal transmission system and a signal transmission method thereof to solve the problem of the failure of the control of the wireless pipeline robot as described in the background.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0006] In a first aspect, the present application discloses an intelligent pipeline network signal transmission system, which comprises a signal transmission module for transmitting first control instructions and second control instructions; a signal receiving module arranged on a pipeline robot for receiving the first control instructions; a feedback module arranged on the pipeline robot for transmitting first feedback instructions after the signal receiving module receives the first control instructions; a feedback receiving module for receiving the first feedback instructions; a relay module arranged outside the pipeline and capable of transmitting the received instructions to the signal receiving module after receiving the second control instructions; after the signal transmission module transmits the first control instructions and the feedback receiving module fails to receive the first feedback instructions, the signal transmission module transmits the first control instructions and the second control instructions, and the relay module receives the first control instructions and the second control instructions and transmits the first control instructions.

[0007] By adopting the technical scheme, when the pipeline robot and the signal transmitting module are relatively close, the signal receiving module can receive the first control instruction, and the pipeline robot performs relevant work according to the first control instruction. At this time, the relay module can also receive the first control instruction, but the signal transmitting module does not transmit the second control instruction, the relay module does not transmit the first control instruction to the signal receiving module, and the signal receiving module does not repeatedly receive the first control instruction.

[0008] When the distance between the pipeline robot and the signal transmitting module is relatively 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 also cannot receive the first feedback instruction. At this time, 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 received first control instruction to the signal receiving module, the signal receiving module receives the first control instruction, and the pipeline robot performs relevant work according to the first control instruction.

[0009] As known from the above, when the pipeline robot and the signal transmitting module are relatively close, the signal transmitting module and the signal receiving module can directly transmit signals. When the distance between the pipeline robot and the signal transmitting module is relatively far, 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 in close distance and long distance work, and the problem of control failure of the cable-free pipeline robot is solved.

[0010] In further embodiments, the relay modules are spaced apart along the extension direction of the pipeline, each of the relay modules is further configured to receive the first feedback instruction, and adjacent two of the relay modules are signal connected; when one of the relay modules receives the second control instruction, the relay module transmits the first control instruction, judges whether the first feedback instruction is received, if the first feedback instruction is received, does not continue to transmit the second control instruction, and if the first feedback instruction is not received, continues to transmit the second control instruction to the relay module downstream.

[0011] By adopting the technical scheme, when the relay module transmitting the first control instruction receives the first feedback instruction, it indicates that the pipeline robot and the relay module are still within the communication range at this time, and the downstream relay module does not need to communicate. When the relay module transmitting the first control instruction cannot receive the first feedback instruction, the pipeline robot and the relay module are not within the communication range at this time, and the downstream relay module needs to communicate with the pipeline robot. By arranging multiple relay modules, the pipeline network signal transmission system can transmit a longer distance.

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

[0013] By adopting the technical scheme, after the pipeline robot receives the first control instruction, the pipeline robot proves that the first control instruction has been received by feeding back the first feedback instruction, and 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 relay module can also transmit a third feedback instruction, and the last relay module that receives the second control instruction transmits the third feedback instruction to the relay module upstream after receiving the second control instruction, and the third feedback instruction is transmitted to the feedback receiving module by a plurality of relay modules upstream.

[0015] By adopting the technical scheme, each relay module can also feed back after receiving the second control instruction, so that the control of the relay module also forms a closed loop, and the reliability of the pipeline signal transmission system control is improved.

[0016] In a further embodiment, each relay module is also connected with a starting component, and the starting component 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, the starting component controls the corresponding relay module to start.

[0017] By adopting the technical scheme, when the pipeline robot is far away from the relay module downstream, the relay module downstream does not start. When the pipeline robot and the relay module downstream are within the communication range, the pipeline robot and the relay module downstream are close, and the most adjacent relay module downstream starts at this time, so that subsequent signal transmission is timely. By such a setting, multiple relay modules can be started as needed, and the energy consumption of the pipeline signal transmission system is reduced.

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

[0019] By adopting the technical scheme, after the signal transmitting module transmits the first control instruction, the first control instruction can be transmitted to the cloud module first, and then the cloud module directly transmits signals to the target relay module, thereby improving the signal transmission efficiency.

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

[0021] By adopting the technical scheme, on the one hand, the cloud module can count the number of relay modules currently participating in signal transmission by counting the second feedback instructions, and then estimate the approximate distance of the pipe robot 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 module participating in signal transmission is damaged, thereby further improving the reliability of the pipe network signal transmission system.

[0022] In a further embodiment, an information feedback module and an information receiving module are further included, the information feedback module is arranged on the pipe robot, the information receiving module is in signal connection with the cloud module, information collected by the pipe 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 technical scheme, the information collected by the pipe robot can be transmitted to the information receiving module through the cloud module, so that the transmission of the information of the pipe robot is more convenient.

[0024] On the other hand, the application further discloses a signal transmission method of an intelligent pipe network signal transmission system, which comprises: a signal transmitting module transmits a first control instruction; if the signal receiving module receives the first control instruction, a feedback module transmits a first feedback instruction, and a feedback receiving module receives the first feedback instruction; if the signal receiving module does not receive the first control instruction, the feedback receiving module does not receive the first feedback instruction, and the signal transmitting module transmits the first control instruction and a second control instruction; after the relay module receives the second control instruction, the relay module transmits the first control instruction received by the relay module to the signal receiving module.

[0025] Compared with the prior art, the beneficial effects of the present application are that when the pipeline robot and the signal transmitting module are relatively close, the signal transmission can be directly performed between the signal transmitting module and the signal receiving module; when the pipeline robot and the signal transmitting module are relatively 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 control instruction transmitted by the signal transmitting module can be received by the pipeline robot in close distance and long distance operation, and the problem of control failure of the cableless pipeline robot is solved. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

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

[0030] Figure 5 It is a flowchart of signal transmission of the intelligent pipeline network signal transmission system in the embodiment of the present application.

[0031] In the figure: 1, signal transmitting 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 application, it should be understood that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" and the like are only for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "multiple" is two or more.

[0033] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0034] The technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

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

[0036] Specifically, referring to Figures 1-2 , the external control layer comprises a signal transmitting module 1 and a feedback receiving module 4, and the pipeline robot is provided with a signal receiving module 2 and a feedback module 3. The signal transmitting module 1 is used to transmit first control instructions and second control instructions, the signal receiving module 2 is arranged on the pipeline robot and is used to receive the first control instructions. The feedback module 3 is arranged on the pipeline robot, and transmits first feedback instructions after the signal receiving module 2 receives the first control instructions. The feedback receiving module 4 is used to receive the first feedback instructions, and the relay module 5 is arranged outside the pipeline and can transmit the received instructions to the signal receiving module 2 after receiving the second control instructions. When the signal transmitting module 1 transmits the first control instructions, the feedback receiving module 4 cannot receive the first feedback instructions, the signal transmitting module 1 transmits the first control instructions and the second control instructions, and the relay module 5 receives the first control instructions and the second control instructions and transmits the first control instructions.

[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 relevant work according to the first control instruction. At this time, the relay module 5 can also receive the first control instruction, but the signal transmitting module 1 does not transmit the second control instruction, the relay module 5 does not transmit the first control instruction to the signal receiving module 2, and the signal receiving module 2 does 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 also cannot receive the first feedback instruction. At this time, 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 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 relevant work according to the first control instruction.

[0039] From the above, when the pipeline robot and the signal transmitting module 1 are close to each other, the signal transmitting module 1 and the signal receiving module 2 can directly transmit signals. When the distance between the pipeline robot and the signal transmitting module 1 is far, 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 it is close or far, and the problem of control failure of the cable-free pipeline robot is solved.

[0040] Further, referring to Figures 1-3 , 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, each relay module 5 is also used for receiving the first feedback instruction, and the adjacent two relay modules 5 are signal connected; after one of the relay modules 5 receives the second control instruction, the relay module 5 transmits the first control instruction, judges whether the first feedback instruction is received, if the first feedback instruction is received, the second control instruction is not continuously transmitted, and if the first feedback instruction is not received, the second control instruction is continuously transmitted to the relay module 5 downstream.

[0041] When the relay module 5 transmitting the first control instruction receives the first feedback instruction, it indicates that the pipeline robot and the relay module 5 are still within the communication range at this time, so the downstream relay module 5 does not need to communicate. When the relay module 5 transmitting the first control instruction cannot receive the first feedback instruction, the pipeline robot and the relay module 5 are not within the communication range at this time, so the downstream relay module 5 needs to communicate with the pipeline robot. By arranging a plurality of relay modules 5, the pipeline network signal transmission system can transmit a longer distance.

[0042] Further, referring to Figures 1-3 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 relay modules 5 upstream.

[0043] After the pipeline robot receives the first control instruction, the pipeline robot proves that the first control instruction has been received by feeding back the first feedback instruction, and 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, referring to Figures 1-3 Each relay module 5 can also transmit a third feedback instruction, and the last relay module 5 that receives the second control instruction transmits a third feedback instruction to the relay module 5 upstream after receiving the second control instruction, and the third feedback instruction is transmitted to the feedback receiving module 4 through a plurality of relay modules 5 upstream.

[0045] Through the above implementation, each relay module 5 can also feed back after receiving the second control instruction, so that the control of the relay module 5 also forms a closed loop, and the reliability of the pipeline signal transmission system control is improved.

[0046] Further, referring to Figures 1-3 Each relay module 5 is also connected with 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 starting instruction, and after the starting component receives the starting instruction, the starting component controls the corresponding relay module 5 to start.

[0047] Through the above implementation, when the pipeline robot is far away from the relay module 5 downstream, the relay module 5 downstream does not start. When the pipeline robot and the relay module 5 downstream are within the communication range, the pipeline robot and the relay module 5 downstream are close, and at this time, the most adjacent relay module 5 downstream starts, which is convenient for subsequent timely signal transmission. Through such a setting, multiple relay modules 5 can be started as needed, and the energy consumption of the pipeline signal transmission system is reduced.

[0048] Further, referring to Figures 1-3 The pipeline signal transmission system also includes a cloud module 6, the signal transmitting 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 relay module 5 and the cloud module 6 are signal connected.

[0049] The signal transmission module 1 transmits the first control instruction, which can not only be transmitted to the downstream one by one through the plurality of relay modules 5, but also be transmitted to the cloud module 6 first, and then be transmitted to the target relay module 5 directly by the cloud module 6, thereby improving the efficiency of signal transmission.

[0050] Based on the above setting, 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 instruction.

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

[0052] Further, referring to Figures 1-4 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 on the pipeline robot, and the information receiving module 8 is in signal connection with the cloud module 6. The information collected by the pipeline robot is fed back to the adjacent relay module 5 through 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.

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

[0054] Based on the above intelligent pipeline signal transmission system, the application also discloses a signal transmission method of the intelligent pipeline signal transmission system, which comprises the following steps:

[0055] S1, the signal transmission module 1 transmits the 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 cannot receive the first control instruction, the feedback receiving module 4 cannot receive the first feedback instruction, and the signal transmission module 1 transmits the first control instruction and the second control instruction;

[0058] S4, after the relay module 5 receives the second control instruction, the first control instruction received by the relay module 5 can be transmitted to the signal receiving module 2.

[0059] It will be obvious to a person skilled in the art that the application is not limited to the details of the foregoing exemplary embodiments and can be implemented in other concrete forms without departing from the spirit or essential characteristics of the application. The embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. No reference signs in the claims should be considered as limiting the scope of the claims to the identity of the reference signs therein.

[0060] Furthermore, it should be understood that although the description is made on the basis of the embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. An intelligent pipeline signal transmission system, comprising: a signal transmitting module (1) for transmitting a first control instruction and a second control instruction; a signal receiving module (2) arranged on a pipeline robot for receiving the first control instruction; a feedback module (3) arranged on the pipeline robot, the feedback module (3) transmitting a first feedback instruction after the signal receiving module (2) receives the first control instruction; a feedback receiving module (4) for receiving the first feedback instruction; a relay module (5) arranged outside the pipeline for receiving the first control instruction and the second control instruction, and transmitting the first control instruction received by the relay module (5) to the signal receiving module (2) after the relay module (5) receives the second control instruction; after the signal transmitting module (1) transmits the first control instruction, the feedback receiving module (4) does not 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 to the signal receiving module (2); 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 also used for receiving the first feedback instruction, and the adjacent two relay modules (5) are signal connected; after one of the relay modules (5) receives the second control instruction, the relay module (5) transmits the first control instruction, judges whether the first feedback instruction is received, if the first feedback instruction is received, does not continue to send the second control instruction, and if the first feedback instruction is not received, continues to send the second control instruction to the relay module (5) downstream.

2. A smart pipe network signal transmission system according to claim 1, characterised in that, after 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 relay modules (5) upstream.

3. A smart pipe network signal transmission system according to claim 2, characterised in that, each of the relay modules (5) can also transmit a third feedback instruction, and the last relay module (5) receiving the second control instruction transmits the third feedback instruction to the relay module (5) upstream after receiving the second control instruction, and the third feedback instruction is transmitted to the feedback receiving module (4) through a plurality of the relay modules (5) upstream.

4. The intelligent pipe network signal transmission system according to claim 1, characterized in that, a starting component is connected to each of the relay modules (5), and the starting component is used for controlling 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 starting instruction, and the starting component receives the starting instruction to control the corresponding relay module (5) of the starting component to start.

5. The intelligent pipe network signal transmission system according to claim 2, wherein, a cloud module (6) is further included, the signal transmitting 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.

6. A smart pipe signal transmission system according to claim 5, wherein, The second feedback instruction emitted 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 instruction.

7. A smart pipe signal transmission system according to claim 5, characterised in that The information feedback module (7) is arranged on the pipeline robot, and the information receiving module (8) is in signal connection with the cloud module (6). The information collected by the pipeline robot is fed back to the adjacent relay module (5) through 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).

8. A signal transmission method for the intelligent pipe network signal transmission system according to any one of claims 1 to 7, characterized in that, The following steps are included: The signal emitting module (1) emits a first control instruction; If the signal receiving module (2) receives the first control instruction, the feedback module (3) emits a first feedback instruction, and the feedback receiving module (4) receives the first feedback instruction; If the signal receiving module (2) cannot receive the first control instruction, the feedback receiving module (4) cannot receive the first feedback instruction, and the signal emitting module (1) emits the first control instruction and a second control instruction; After receiving the second control instruction, the relay module (5) can emit the first control instruction received by it to the signal receiving module (2).

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