Pipeline interior diagnosis system and diagnosis method

Abstract

The invention relates to a pipeline interior diagnosis system and a diagnosis method. Comprising an advancing device and a monitoring system, the monitoring system is installed on the advancing device, and the advancing device comprises a frame body and wheels arranged on the frame body; the monitoring system comprises a main control module, an auxiliary module, a pipe diameter acquisition module, a mileage monitoring module, a camera module and a remote terminal, the pipe diameter acquisition module is used for measuring the circumferential inner diameter of the whole pipeline; and the camera module is used for acquiring an image in the pipeline. In the invention, a pipe diameter acquisition module measures the inner diameter of a pipeline, a camera module acquires an image in the pipeline, a mileage monitoring module records the position of a traveling device, and an auxiliary module receives and processes pipe diameter data and then transmits the pipe diameter data, image data and mileage data to a main control module together. According to an analysis result of the remote terminal, an operator can formulate a targeted maintenance plan, and safe operation of the pipeline is ensured.

Description

Technical Field

[0001] The present invention relates to the field of pipeline monitoring, and particularly to an internal pipeline diagnosis system and a diagnosis method. Background Art

[0002] Underground cable pipelines have become a common technical solution in current high-voltage cable laying. This laying method arranges the original overhead lines erected on the ground in towns underground, which not only purifies the town's appearance but also reduces the electric shock risk to pedestrians on the ground caused by line failures.

[0003] The cable pipelines laid underground usually use plastic pipelines. Due to the good flexibility of plastic pipelines, simple assembly and convenient construction, and relatively good corrosion resistance when buried underground compared with steel pipes, and low prices, they are widely used in underground cable pipe networks. However, due to various factors such as ground settlement and construction quality, the originally insufficiently rigid plastic pipelines will be squeezed and deformed to have defects, resulting in difficulties in subsequent cable laying or cable damage, and reducing the service life of the cable.

[0004] Therefore, there is a need for an internal pipeline diagnosis system and a diagnosis method to accurately locate the positions of defects occurring inside the pipeline. Summary of the Invention

[0005] In view of this, the present invention aims to provide an internal pipeline diagnosis system and a diagnosis method to solve the problems in the prior art.

[0006] To achieve the above object, the technical solution of the present invention is realized as follows:

[0007] The present invention provides an internal pipeline diagnosis system, including a traveling device and a monitoring system. The monitoring system is installed on the traveling device, and the traveling device includes a frame and wheels provided on the frame.

[0008] The monitoring system includes a main control module, an auxiliary module, a pipe diameter acquisition module, a mileage monitoring module, a camera module, and a remote terminal.

[0009] The pipe diameter acquisition module is used to measure the circumferential inner diameter of the entire pipeline.

[0010] The camera module is used to obtain images inside the pipeline.

[0011] The mileage monitoring module is used to measure the mileage of the traveling device and determine the position of the traveling device.

[0012] The auxiliary module is used to receive the data collected by the pipe diameter acquisition module, process it, and then transmit it to the main control module.

[0013] The main control module is used to acquire image data, pipe diameter data, and mileage data and transmit them to a remote terminal;

[0014] The remote terminal is used to receive the image data, the pipe diameter data, and the mileage data sent by the main control module, compare the image data and the pipe diameter data at different positions, and determine that there is a defect when it is greater than a preset threshold, and determine the position according to the mileage data.

[0015] Further, the mileage acquisition module includes a magnet and a magnetic switch. The magnets are evenly arranged on the wheels. When the wheels rotate, the magnets will successively trigger the magnetic switch, and the main control module measures the mileage according to the number of triggers.

[0016] Further, the pipe diameter acquisition module includes a motor and a distance measuring sensor. The distance measuring sensors are evenly arranged on the output shaft of the motor. The motor can drive the distance measuring sensors to rotate, and the auxiliary module calculates the pipe diameter data according to the distances between the respective distance measuring sensors and the inside of the pipe.

[0017] Further, a powerline communication adapter for data transmission is provided between the main control module and the remote terminal.

[0018] Further, the camera module further includes an illumination module for illumination.

[0019] Further, the main control module can sample the image captured by the camera module to obtain discrete pixels with discretized spatial position coordinates, then convert the pixel grayscale into discrete integer values through quantization, and then perform encoding to form image data.

[0020] Further, the main control module uses Samsung S5P6818 as the main processor.

[0021] Further, the auxiliary module uses an STM32 chip and realizes data interaction with the main control module through a USART interface.

[0022] The present invention also proposes a diagnosis method.

[0023] The diagnosis method is applied to the above-mentioned pipeline internal diagnosis system, and the diagnosis method includes the following steps:

[0024] S1, the main control module receives the mileage data, image data, and pipe diameter data at different mileages in real time;

[0025] S2, the remote terminal processes the data sent by the main control module, constructs a coordinate system, uses the recorded mileage data as the x-axis, the collected pipeline data as the y-axis, and the collected pipeline internal image data as the z-axis. The point P on the coordinate system, that is, the intersection of x, y, and z, is the state of the pipeline internal at a certain mileage.

[0026] S3. When the P point deviates from the preset threshold, it is determined that there is a depression inside the current pipeline.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] In the present invention, the pipe diameter acquisition module measures the inner diameter of the pipeline, the camera module acquires the image inside the pipeline, the mileage monitoring module records the position of the traveling device, the auxiliary module receives and processes the pipe diameter data, and then transmits it together with the image data and mileage data to the main control module. The main control module integrates the received data to form a complete data set. The remote terminal receives the data set sent by the main control module, conducts a comparative analysis, determines whether there are defects in the pipeline, and determines the defect location according to the mileage data. According to the analysis results of the remote terminal, the operator can formulate a targeted maintenance plan to ensure the safe operation of the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0030] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0031] Figure 2 is a schematic diagram of the structure of the pipe diameter detection module of the present invention;

[0032] Figure 3 is a schematic diagram of the pipe diameter acquisition structure of the present invention;

[0033] Figure 4 is a schematic diagram of the monitoring system structure of the present invention;

[0034] Figure 5 is a flow chart of the coordinate system construction of the present invention;

[0035] Figure 6 is a flow chart of the diagnosis method of the present invention.

[0036] DESCRIPTION OF THE REFERENCE NUMERALS:

[0037] 1. Traveling mechanism; 2. Wheel; 3. Motor; 4. Distance measuring sensor; 5. Magnet; 6. Magnetic switch. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0038] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0039] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "back", etc. is based on the orientation or positional relationship shown in the drawings. It is 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 should not be construed as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0040] In addition, in the description of the present invention, unless otherwise clearly defined, the terms "installation", "connection", "connection", "connector" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication of the inner diameters of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in combination with specific situations.

[0041] Next, the present invention will be described in detail with reference to the Figures 1 to 5 drawings and in conjunction with embodiments.

[0042] Embodiment 1

[0043] This embodiment provides an internal pipeline diagnosis system, which includes a traveling device and a monitoring system. The monitoring system is installed on the traveling device, and the traveling device includes a frame and wheels 2 provided on the frame.

[0044] In this embodiment, the traveling mechanism 1 is used to carry the detection system to move inside the pipeline. During operation, the traveling wheels 2 are supported on the inner circumferential side of the pipeline.

[0045] As Figure 4 shown, the above-mentioned monitoring system includes a main control module, an auxiliary module, a pipe diameter acquisition module, a mileage monitoring module, a camera module, and a remote terminal;

[0046] The pipe diameter acquisition module is used to measure the circumferential inner diameter of the entire pipeline;

[0047] The camera module is used to obtain images inside the pipeline;

[0048] The mileage monitoring module is used to measure the mileage of the traveling device and determine the position of the traveling device;

[0049] The auxiliary module is used to receive the data collected by the pipe diameter acquisition module, process it, and then transmit it to the main control module;

[0050] The main control module is used to obtain image data, pipe diameter data, and mileage data and transmit them to the remote terminal;

[0051] The remote terminal is used to receive the image data, pipe diameter data, and mileage data sent by the main control module, compare the image data and pipe diameter data at different positions, determine that there is a defect when it is greater than the preset threshold, and determine the position according to the mileage data.

[0052] In this embodiment, the pipe diameter acquisition module measures the inner diameter of the pipe, the camera module acquires the image inside the pipe, the mileage monitoring module records the position of the traveling device, the auxiliary module receives and processes the pipe diameter data, and then transmits it together with the image data and mileage data to the main control module. The main control module integrates the received data to form a complete data set. The remote terminal receives the data set sent by the main control module, conducts comparative analysis, determines whether there is a defect in the pipe, and determines the defect position according to the mileage data. According to the analysis result of the remote terminal, the operator can formulate a targeted maintenance plan to ensure the safe operation of the pipe.

[0053] In the actual working process, the monitoring system realizes the real-time monitoring and analysis of the internal condition of the pipe by integrating multiple functional modules. By comparing the image data and pipe diameter data at different positions, the pipe defects can be found and located in time, providing strong technical support for the maintenance and management of the pipe.

[0054] Preferably, a powerline Ethernet adapter for data transmission is provided between the main control module and the remote terminal. It should be understood that the powerline Ethernet adapter, also known as a powerline network bridge or powerline modem, is a device that uses existing electrical wires to solve the problem of network cabling. It modulates the network signal onto the electrical wire and uses the electrical wire for data transmission, thus avoiding the trouble of re-wiring. The powerline Ethernet adapter transmits data with high stability and reliability, and can meet the requirements of the monitoring system for data real-time and accuracy. The powerline Ethernet adapter transmission is not blocked by obstacles such as walls, and the signal attenuation is small, ensuring the integrity and orderliness of the data.

[0055] In this embodiment, the powerline Ethernet adapter used is LW-MPA524A, which has the characteristics of high integration and low volume heat generation. It can provide a powerline transmission rate of up to 500 Mbps, with stable operation and reliable performance. A pair of powerline Ethernet adapters are used in this system, and they are communicatively connected to the main control module and the remote terminal through Ethernet.

[0056] In this embodiment, the camera module uses a 2-million-pixel high-definition small camera. In order to facilitate the camera module to clearly and accurately acquire image data, in the specific implementation, a photo module is also provided on the camera module, which can provide suitable light in the dark underground pipe to obtain better video images.

[0057] Preferably, the above-mentioned main control module uses the Samsung S5P6818 as the main processor. Core6818 is a high-performance octa-core Cortex-A53 core board designed and developed by FriendlyARM in Guangzhou. Its operating frequency can reach up to 1.4Ghz, and it is standard-equipped with 1GB of memory and 8GB of eMMC high-speed flash memory. Core6818 has a size of 75x45mm. Such a small board integrates a video output interface, an on-board WiFi & Bluetooth module, and a pin header with rich interface resources. In addition, the small board also integrates a power management unit, which can realize software shutdown and startup and hardware wake-up functions. Core6818 supports Android, FriendlyCore, and UbuntuCore systems, and can be used for enterprise customers to quickly complete the development of prototype products, and is applicable to a wide range of fields such as industrial control, monitoring systems, handheld devices, robots, game consoles, the Internet of Things, and smart devices.

[0058] In addition, the auxiliary module preferably uses an stm32 chip with a Cortex-M3 kernel. It not only supports the Thumb-2 instruction set but also has many new features, such as strong performance, higher code density, bit-band operation, nestable interrupts, low cost, low power consumption, and many other advantages. It has rich peripherals, including numerous I / Os, multiple A / D channels, multiple timers, multiple serial ports, SPI, IIC and other interfaces, and realizes data interaction with the main control module through the USART interface.

[0059] It should be noted that after receiving the image, the above-mentioned main control module samples the image captured by the camera module to obtain discrete pixels with discretized spatial position coordinates, then converts the pixel grayscale into discrete integer values through quantization, and then encodes them to form image data.

[0060] As Figure 3 and Figure 4 shown, preferably, the above-mentioned mileage acquisition module includes a magnet 5 and a magnetic switch 6. The magnet 5 is evenly arranged on the wheel 2, and the magnetic switch 6 is installed on the frame body on one side of the wheel 2. When the wheel 2 rotates, the magnet 5 will successively trigger the magnetic switch 6, and the main control module measures the mileage through the number of trigger times.

[0061] When the wheel 2 rotates, the magnet 5 on the wheel 2 will successively pass by the magnetic switch 6. Each time the magnet 5 triggers the magnetic switch 6, an electrical signal will be generated. The main control module measures the number of rotations of the wheel 2 by monitoring the number of trigger times of these electrical signals. Since the circumference of the wheel 2 is known, the total distance traveled by the wheel 2 (i.e., the mileage) can be calculated through the number of rotations and the circumference of the wheel 2.

[0062] During specific implementation, the main control module receives trigger signals from the magnetic switch 6 and is also responsible for processing these signals to calculate the mileage. It may use an internal counter to record the number of triggers and calculate the mileage based on the preset perimeter parameter of the wheel 2. In this way, the mileage data of the traveling mechanism 1 can be obtained without the need for complex mechanical structures or electronic components, featuring high reliability and durability.

[0063] The magnetic switch 6 preferably adopts the AL-09N, NPN-type magnetic switch 6, which can sense the magnet 5 within a certain range. When the magnet 5 is sensed, the indicator light lights up and the signal line outputs a low level. When the magnet 5 is not sensed, the indicator light does not light up and the signal line outputs a high level.

[0064] As Figure 2 and Figure 4 shown, the above-mentioned pipe diameter acquisition module includes the motor 3 and the distance measuring sensors 4. The distance measuring sensors 4 are evenly arranged on the output shaft of the motor 3. The motor 3 can drive the distance measuring sensors 4 to rotate, and the auxiliary module calculates the pipe diameter data based on the distances between each distance measuring sensor 4 and the inside of the pipe. The motor 3 is installed at the center position of the frame, and its output shaft corresponds to the center of the circle of the pipe.

[0065] During the actual working process, when the motor 3 starts, it drives the distance measuring sensors 4 to rotate inside the pipe. As the sensors rotate, they will successively measure the distances to multiple points on the inner wall of the pipe. These distance data are transmitted to the auxiliary module in real time, which is responsible for processing these data and calculating the inner diameter of the pipe. The auxiliary module receives the distance data from the distance measuring sensors 4 and uses these data for pipe diameter calculation.

[0066] The motor 3 adopts a high-torque small-sized hollow motor 3 with the model HO5515, which has good speed regulation performance while maintaining high torque. In this system, at least 4 distance measuring sensors 4 are fixed on it to measure the entire circumference of the pipe. The motor 3 adopts the CAN protocol, featuring good controllability and anti-interference ability. The distance measuring sensors 4 adopt high-precision analog sensors with the model BX-LV50NR. With 50mm as the benchmark, the measuring range is 35 - 65mm.

[0067] Embodiment 2

[0068] This embodiment proposes a diagnostic method, which is used for the pipe internal diagnostic system proposed in the above Embodiment 1. As Figure 5 and Figure 6 shown, this diagnostic method includes the following steps:

[0069] S1, the main control module receives the mileage data, image data, and pipe diameter data at different mileages in real time;

[0070] S2, The remote terminal processes the data sent by the main control module, constructs a coordinate system, with the recorded mileage data as the x-axis, the collected pipeline data as the y-axis, and the collected internal pipeline image data as the z-axis. The point P on the coordinate system, that is, the intersection of x, y, and z, represents the state inside a pipeline at a certain mileage.

[0071] S3, When the point P deviates from the preset threshold, it is determined that there is an internal depression in the current pipeline.

[0072] In summary, the diagnostic method proposed in this embodiment realizes real-time monitoring and abnormal judgment of the internal state of the pipeline by constructing a three-dimensional coordinate system and setting a preset threshold. It not only improves the accuracy and timeliness of diagnosis but also provides strong technical support for the maintenance and management of the pipeline.

[0073] The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A pipeline internal diagnosis system, characterized in that: It comprises a traveling device and a monitoring system, wherein the monitoring system is installed on the traveling device, and the traveling device comprises a frame and wheels arranged on the frame; The monitoring system includes a main control module, an auxiliary module, a pipe diameter acquisition module, a mileage monitoring module, a camera module, and a remote terminal; The pipe diameter acquisition module is used to measure the circumferential inner diameter of the entire pipe; The camera module is used to obtain images inside the pipeline; The mileage monitoring module is used to measure the mileage of the traveling device and determine the position of the traveling device; The auxiliary module is used to receive the data collected by the pipe diameter collection module and transmit it to the main control module after processing; The main control module is used to obtain image data, pipe diameter data, and mileage data and transmit them to a remote terminal; The remote terminal is used to receive the image data, the pipe diameter data and the mileage data sent by the main control module, compare the image data and pipe diameter data at different positions, judge that there is a defect when it is greater than a preset threshold, and determine the position according to the mileage data.

2. A pipeline internal diagnosis system according to claim 1, characterized in that: The mileage collection module includes a magnet and a magnetic switch. The magnet is evenly arranged on the wheel. When the wheel rotates, the magnet will trigger the magnetic switch successively. The main control module measures the mileage according to the number of triggering times.

3. A pipeline internal diagnosis system according to claim 1, characterized in that: The pipe diameter acquisition module includes a motor and a distance sensor. The distance sensors are evenly arranged on the motor output shaft. The motor can drive the distance sensors to rotate. The auxiliary module calculates the pipe diameter data according to the distance between each distance sensor and the inside of the pipeline.

4. A pipeline internal diagnosis system according to claim 1, characterized in that: A powerline adapter for data transmission is provided between the main control module and the remote terminal.

5. A pipeline internal diagnosis system according to claim 1, characterized in that: The camera module further includes a lighting module for lighting.

6. A pipeline internal diagnosis system according to claim 1, characterized in that: The main control module can sample the image taken by the camera module to obtain discrete pixels after discretizing the spatial position coordinates, and then convert the pixel grayscale into discrete integer values ​​through quantization, and then encode them to form image data.

7. A pipeline internal diagnosis system according to claim 1, characterized in that: The main control module uses Samsung S5P6818 as the main processor.

8. A pipeline internal diagnosis system according to claim 1, characterized in that: The auxiliary module adopts STM32 chip.

9. A pipeline internal diagnosis system according to claim 8, characterized in that: The auxiliary module realizes data exchange with the main control module through the USART interface.

10. A diagnostic method, characterized in that: The diagnostic method is applied to a pipeline internal diagnostic system as described in any one of claims 1 to 9 above, and the diagnostic method The following steps are involved: S1, the main control module receives mileage data, image data, and pipe diameter data of different mileages in real time; S2, the remote terminal receives the data sent by the main control module and processes it to construct a coordinate system, with the recorded mileage data as the x-axis, the collected pipeline data as the y-axis, and the collected pipeline internal image data as the z-axis. Point P on the coordinate system, i.e., the intersection of x, y, and z, is the state of the pipeline at a certain mileage; S3, when point P deviates from the preset threshold, it is determined that the interior of the current pipeline is concave.

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