Positioning method, device and equipment for detector in pipeline and storage medium

Abstract

The invention discloses a positioning method, device and equipment for a detector in a pipeline and a storage medium, and the method comprises the steps: determining the moving speed of the detector according to the marking time of a target calibration box, the marking time of a calibration box above the target calibration box, and the pipeline distance between the target calibration box and the calibration box above the target calibration box; the target calibration box is the calibration box with the minimum difference value between the marking time and the reference time; calculating a difference value between the reference time and the marking time of the target calibration box to obtain a target time difference, and calculating a product of the target time difference and the moving speed to obtain a first distance; determining the distance from the initial calibration box to the target calibration box to obtain a second distance; calculating a sum value of the first distance and the second distance to obtain a moved distance of the detector; determining the real-time position of the detector according to the moved distance and a preset relation; the preset relationship comprises a mapping relationship between the moved distance and the real-time position. According to the technical scheme, the detector in the pipeline can be positioned in real time.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of pipeline detection, and in particular, to a positioning method, device, equipment and storage medium for an in-pipeline detector. Background Art

[0002] In the field of energy transportation, the safety and stability of pipelines are of utmost importance. To ensure the normal operation of pipelines and promptly detect and repair potential hazards, regular inspection work is essential. As an efficient inspection means, an in-pipeline detector can provide detailed pipeline condition information. Therefore, how to locate the in-pipeline detector in the pipeline for accurate analysis and processing of inspection results is extremely important.

[0003] Currently, the existing positioning methods for in-pipeline detectors mainly rely on calibration boxes. That is, when the detector passes through a pre-set calibration box, the time and position information recorded by the calibration box can be used to determine the position of the detector. However, this method cannot perform real-time positioning of the in-pipeline detector before it reaches the calibration box.

[0004] Therefore, there is an urgent need to propose a new method to solve the above problems. Summary of the Invention

[0005] The present invention provides a positioning method, device, equipment and storage medium for an in-pipeline detector, which can perform real-time positioning of the in-pipeline detector.

[0006] In a first aspect, the embodiments of the present invention provide a positioning method for an in-pipeline detector, the method comprising:

[0007] Determine the moving speed of the detector according to the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box; the target calibration box is the calibration box with the smallest difference between the marking time and the reference time;

[0008] Calculate the difference between the reference time and the marking time of the target calibration box to obtain a target time difference, and calculate the product of the target time difference and the moving speed to obtain a first distance;

[0009] Determine the distance from the starting calibration box to the target calibration box to obtain a second distance;

[0010] Calculate the sum value of the first distance and the second distance to obtain the moved distance of the detector;

[0011] Determine the real-time position of the detector according to the moved distance and a preset relationship; the preset relationship includes the mapping relationship between the moved distance and the real-time position.

[0012] According to the technical solution of the present invention, first, based on the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box, the moving speed of the detector is determined, which improves the efficiency of determining the moving speed of the detector and provides a data basis for determining the first distance later. Then, the difference between the reference time and the marking time of the target calibration box is calculated to obtain the target time difference, and the product of the target time difference and the moving speed is calculated to obtain the first distance, which reduces the complexity of determining the first distance, thereby improving the speed of determining the real-time position later and providing a data basis for determining the moved distance of the detector later. After that, the distance from the starting calibration box to the target calibration box is determined to obtain the second distance, which provides a data basis for determining the moved distance of the detector later. Then, the sum of the first distance and the second distance is calculated to obtain the moved distance of the detector, which simplifies the process of determining the moved distance, reduces the implementation complexity, and provides a data basis for determining the real-time position of the detector later. Finally, the real-time position of the detector is determined according to the moved distance and the preset relationship, which not only realizes the real-time positioning of the detector, but also improves the positioning speed, and solves the problem that the detector in the pipeline cannot be real-time positioned in the prior art.

[0013] In a second aspect, an embodiment of the present invention further provides a positioning device for a detector in a pipeline, and the device includes:

[0014] A speed determination module, configured to determine the moving speed of the detector according to the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box; the target calibration box is the calibration box with the smallest difference between the marking time and the reference time;

[0015] A first distance determination module, configured to calculate the difference between the reference time and the marking time of the target calibration box to obtain the target time difference, and calculate the product of the target time difference and the moving speed to obtain the first distance;

[0016] A second distance determination module, configured to determine the distance from the starting calibration box to the target calibration box to obtain the second distance;

[0017] A moved distance determination module, configured to calculate the sum of the first distance and the second distance to obtain the moved distance of the detector;

[0018] A positioning module, configured to determine the real-time position of the detector according to the moved distance and the preset relationship; the preset relationship includes the mapping relationship between the moved distance and the real-time position.

[0019] In a third aspect, an embodiment of the present invention further provides an electronic device, and the electronic device includes:

[0020] At least one processor; and a memory communicatively connected to the at least one processor;

[0021] Wherein, the memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the positioning method of the in-pipe detector according to any one of the first aspect.

[0022] In a fourth aspect, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, and when the computer-executable instructions are executed by a computer processor, the positioning method of the in-pipe detector according to any one of the first aspect is implemented.

[0023] It should be noted that the above computer instructions can be stored in whole or in part on a computer-readable storage medium. Among them, the computer-readable storage medium can be packaged together with the processor of the positioning device of the in-pipe detector, or can be separately packaged from the processor of the positioning device of the in-pipe detector, and the present application does not make a limitation on this.

[0024] For the descriptions of the second aspect, the third aspect, and the fourth aspect in the present application, reference can be made to the detailed description of the first aspect; and for the beneficial effects of the descriptions of the second aspect, the third aspect, and the fourth aspect, reference can be made to the beneficial effect analysis of the first aspect, and details are not described herein again.

[0025] In the present application, the names of the above positioning devices of the in-pipe detector do not constitute a limitation on the devices or functional modules themselves. In actual implementation, these devices or functional modules may appear under other names. As long as the functions of each device or functional module are similar to those of the present application and fall within the scope of the claims of the present application and their equivalent technologies.

[0026] These aspects or other aspects of the present application will be more clearly understood in the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 It is a flowchart of a positioning method of an in-pipe detector provided by an embodiment of the present invention;

[0029] Figure 2a It is a flowchart of another positioning method of an in-pipe detector provided by an embodiment of the present invention;

[0030] Figure 2b It is an example diagram of the position between an in-pipe detector and a calibration box provided by an embodiment of the present invention;

[0031] Figure 3 It is a schematic structural diagram of a positioning device for an in-pipe detector provided by an embodiment of the present invention;

[0032] Figure 4 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0033] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. Additionally, it should be noted that for the sake of description, only parts related to the present invention rather than all structures are shown in the drawings.

[0034] The term "and / or" in this article is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone.

[0035] The terms "first" and "second" in the description of this application and in the accompanying drawings are used to distinguish different objects or different treatments of the same object, rather than to describe the specific order of the objects.

[0036] In addition, the terms "include" and "have" and any variations thereof mentioned in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally further include other unlisted steps or units, or may optionally further include other steps or units inherent to these processes, methods, products, or devices.

[0037] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the operations can be rearranged. When the operations are completed, the process can be terminated, but there may also be additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc. In addition, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0038] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific manner.

[0039] In the description of the present application, unless otherwise specified, the meaning of "a plurality of" refers to two or more.

[0040] Figure 1 The figure is a flowchart of a method for positioning an in-pipe detector provided by an embodiment of the present invention. This embodiment is applicable to the situation of real-time positioning of an in-pipe detector. This method can be executed by a positioning device of the in-pipe detector, and this device can be implemented in a software and / or hardware manner. Exemplarily, this device can be integrated in an electronic device, and the electronic device can be a computer or a server. Refer to Figure 1 , the method for positioning the in-pipe detector in this embodiment specifically includes the following steps:

[0041] Step 110: Determine the moving speed of the detector according to the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box.

[0042] Specifically, the target calibration box is the calibration box with the smallest difference between the marking time and the reference time. A calibration box refers to a device that records the time when the in-pipe detector passes directly below it. For example: The calibration box can be configured with a Beidou real-time kinematic measurement service and built-in Beidou time synchronizer. The marking time refers to the time when the calibration box records that the in-pipe detector passes directly below it. The reference time refers to a reference time set according to the actual situation or requirements. For example: The reference time can be the current time. The previous calibration box refers to the calibration box that is located before the target calibration box in the pipeline sequence relative to the target calibration box. The pipeline distance refers to the actual distance on the pipeline between adjacent calibration boxes (such as the target calibration box and the previous calibration box). The detector refers to a device that runs in the pipeline and is used to detect relevant situations in the pipeline, that is, the in-pipe detector. In this embodiment, the moving speed refers to the speed at which the detector moves along the pipeline from a certain calibration box (such as the target calibration box) to the next calibration box (such as the next calibration box of the target calibration box).

[0043] In a specific implementation, the reference time can be determined according to the actual situation or requirements first, and the marked times of each calibration box can be obtained from the database storing the marked times of the calibration boxes. Then, the marked times of each calibration box are compared with the reference time, and the calibration box with the smallest difference between the marked time and the reference time is determined as the target calibration box. After that, the pipeline distance between the target calibration box and the previous calibration box is obtained from the database storing the pipeline distances between adjacent calibration boxes. Finally, based on the marked time of the target calibration box, the marked time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box, the moving speed of the detector is calculated. Specifically, the moving speed of the detector can be calculated by the following formula: Moving speed of the detector = Pipeline distance between the target calibration box and the previous calibration box / (Marked time of the target calibration box - Marked time of the previous calibration box of the target calibration box).

[0044] In this embodiment, through the above steps, the efficiency of determining the moving speed of the detector is improved, and a data basis is provided for determining the first distance later.

[0045] Step 120: Calculate the difference between the reference time and the marked time of the target calibration box to obtain the target time difference, and calculate the product of the target time difference and the moving speed to obtain the first distance.

[0046] Specifically, the target time difference refers to the difference between the reference time and the marked time of the target calibration box. The first distance refers to the distance traveled by the detector during the time interval between the reference time and the marked time of the target calibration box.

[0047] Exemplarily, assume that the reference time is 17:15:31 on February 28, 2025, the marked time of the target calibration box is 17:10:31 on February 28, 2025, and the moving speed is 0.5 m / s. Then the target time difference is 300 seconds, and the first distance is 150 meters.

[0048] In this embodiment, through the above steps, the complexity of determining the first distance is reduced, thereby improving the speed of subsequent determination of the real-time position, and a data basis is provided for determining the distance traveled by the detector later.

[0049] Step 130: Determine the distance from the starting calibration box to the target calibration box to obtain the second distance.

[0050] Specifically, the starting calibration box refers to the calibration box installed at the starting position of the pipeline to be detected. The second distance refers to the actual distance along the pipeline direction from the starting calibration box to the target calibration box.

[0051] In a specific implementation, the pipeline distances between each adjacent calibration box from the starting calibration box to the target calibration box can be obtained from a database storing the pipeline distances between adjacent calibration boxes, and the obtained pipeline distances are subjected to a summation operation to obtain a second distance.

[0052] In this embodiment, through the above steps, a data basis is provided for determining the moved distance of the detector later.

[0053] Step 140: Calculate the sum of the first distance and the second distance to obtain the moved distance of the detector.

[0054] Specifically, the moved distance refers to the total moving distance of the detector from the starting calibration box to the position at the reference time.

[0055] Exemplarily, if the first distance is 100 meters and the second distance is 2000 meters, the moved distance of the detector is 2100 meters.

[0056] In this embodiment, through the above steps, the process of determining the moved distance is simplified, the implementation complexity is reduced, and a data basis is provided for determining the real-time position of the detector later.

[0057] Step 150: Determine the real-time position of the detector according to the moved distance and a preset relationship.

[0058] Specifically, the preset relationship includes the mapping relationship between the moved distance and the real-time position. The real-time position refers to the position where the detector is located at the reference time (such as the current time point).

[0059] In a specific implementation, after obtaining the moved distance, the real-time position of the detector can be determined based on the preset mapping relationship between the moved distance and the real-time position.

[0060] It should be noted that the preset relationship can be determined in advance according to the actual situation or requirements, or can be determined through a linear reference model.

[0061] In this embodiment, through the above steps, not only the real-time positioning of the detector is achieved, but also the positioning speed is improved.

[0062] In the embodiment of the present invention, first, according to the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box, the moving speed of the detector is determined, which improves the efficiency of determining the moving speed of the detector and provides a data basis for determining the first distance later. Then, calculate the difference between the reference time and the marking time of the target calibration box to obtain the target time difference, and calculate the product of the target time difference and the moving speed to obtain the first distance, which reduces the complexity of determining the first distance, thereby improving the speed of determining the real-time position later and providing a data basis for determining the moved distance of the detector later. After that, determine the distance from the starting calibration box to the target calibration box to obtain the second distance, which provides a data basis for determining the moved distance of the detector later. Then, calculate the sum value of the first distance and the second distance to obtain the moved distance of the detector, which simplifies the process of determining the moved distance, reduces the implementation complexity, and provides a data basis for determining the real-time position of the detector later. Finally, determine the real-time position of the detector according to the moved distance and the preset relationship, which not only realizes the real-time positioning of the detector, but also improves the positioning speed, and solves the problem that the detector in the pipeline cannot be real-time positioned in the prior art.

[0063] Figure 2a FIG. 4 is a flowchart of another positioning method for a detector in a pipeline provided by an embodiment of the present invention. This embodiment is a specific implementation based on the above embodiment. In this embodiment, the method may further include:

[0064] Step 210, determine whether the target calibration box is the starting calibration box.

[0065] If the target calibration box is the starting calibration box, execute step 219; if the target calibration box is not the starting calibration box, execute step 211.

[0066] In specific implementation, after determining the calibration box with the smallest difference between the marking time and the reference time as the target calibration box, it can be determined whether it is the starting calibration box according to the serial number of the target calibration box. If the target calibration box is not the starting calibration box, calculate the difference between the marking time of the target calibration box and the marking time of the previous calibration box to obtain the marking time difference, and then calculate the ratio of the pipeline distance between the target calibration box and the previous calibration box to the marking time difference to obtain the initial moving speed of the detector. If the target calibration box is the starting calibration box, determine the speed of launching the detector as the moving speed.

[0067] For example: if the serial number range of the calibration box is 1-10 and the serial number of the target calibration box is 1, it can be determined that the target calibration box is the starting calibration box.

[0068] In this embodiment, by determining whether the target calibration box is the starting calibration box, a judgment basis is provided for the subsequent calculation method of determining the moving distance of the detector, and thus the requirements in different scenarios can be met.

[0069] Step 211: Calculate the difference between the marking time of the target calibration box and the marking time of the previous calibration box to obtain the marking time difference.

[0070] Specifically, the marking time difference refers to the difference between the marking time of the target calibration box and the marking time of the previous calibration box.

[0071] In specific implementation, the marking time difference = the marking time of the target calibration box - the marking time of the previous calibration box. For example: If the marking time of the target calibration box is 14:10:42 on February 28, 2025, and the marking time of the previous calibration box is 14:00:21 on February 28, 2025, then the marking time difference is 10 minutes and 21 seconds.

[0072] In this embodiment, by calculating the marking time difference, a data basis is provided for determining the initial moving speed of the detector later.

[0073] Step 212: Calculate the ratio of the pipeline distance between the target calibration box and the previous calibration box to the marking time difference to obtain the initial moving speed of the detector.

[0074] Specifically, the initial moving speed refers to the moving speed of the detector calculated based on the marking time difference between the target calibration box and the previous calibration box and the pipeline distance between them.

[0075] In specific implementation, the initial moving speed of the detector = the pipeline distance between the target calibration box and the previous calibration box / the marking time difference. For example: If the pipeline distance between the target calibration box and the previous calibration box is 3000 meters and the marking time difference is 10 minutes, then the initial moving speed of the detector is 5 m / s.

[0076] In this embodiment, by calculating the initial moving speed, a data basis is provided for determining the moving speed later.

[0077] Step 213: Determine the slope between the target calibration box and the next calibration box according to the elevation information of the target calibration box and the elevation information of the next calibration box of the target calibration box to obtain the target slope.

[0078] Specifically, the elevation information refers to the height position data of the calibration box in the vertical direction. The target slope refers to the inclination degree of the pipeline between the target calibration box and the next calibration box.

[0079] In a specific implementation, the elevation information of the target calibration box and the elevation information of the next calibration box are obtained from a database storing relevant parameter information of the calibration box (such as elevation information, angle information, horizontal position information, etc.). Then, the difference between the elevation information of the next calibration box and the elevation information of the target calibration box is calculated to obtain the elevation difference. Next, the horizontal distance between the target calibration box and the next calibration box is obtained from the database storing the pipeline layout diagram. Finally, the elevation difference and the horizontal distance are used to calculate the slope between the target calibration box and the next calibration box to obtain the target slope.

[0080] In this embodiment, through the above steps, the efficiency of calculating the target slope is improved, and a data basis is provided for determining the moving speed adjustment factor later.

[0081] Further, step 213 may specifically include: calculating the difference between the elevation information of the next calibration box and the elevation information of the target calibration box to obtain the target elevation difference; calculating the horizontal distance between the target calibration box and the next calibration box according to the horizontal position information of the target calibration box and the horizontal position information of the next calibration box to obtain the target horizontal distance; calculating the ratio of the target elevation difference to the target horizontal distance to obtain the target slope.

[0082] Specifically, the target elevation difference refers to the difference between the elevation information of the next calibration box and the elevation information of the target calibration box. The horizontal position information refers to the position data of the calibration box in the horizontal direction. The target horizontal distance refers to the distance between the target calibration box and the next calibration box in the horizontal direction.

[0083] Exemplarily, if the elevation information of the next calibration box is 101.2 meters, the elevation information of the target calibration box is 100.5 meters, the horizontal position information of the target calibration box is (500, 800) (using a geographic coordinate system with the unit of meters), and the horizontal position information of the next calibration box is (550, 820), then the target elevation difference is 0.7 meters, the target horizontal distance is 53.85 meters, and the target slope is 1.3%.

[0084] In this embodiment, through the above steps, the accuracy of the determined target slope is improved.

[0085] Step 214: Determine the moving speed adjustment factor in the correspondence table of slope and angle with the speed adjustment factor based on the target slope and the angle information between the target calibration box and the next calibration box.

[0086] Specifically, the moving speed adjustment factor refers to the coefficient used to adjust the initial moving speed.

[0087] In a specific implementation, after obtaining the target slope, the angle information between the target calibration box and the next calibration box can be obtained from the database storing the relevant parameter information of the calibration box. Then, based on the target slope and the angle information between the target calibration box and the next calibration box, a query is performed in the correspondence table of slope, angle, and speed adjustment factor, so as to obtain the moving speed adjustment factor.

[0088] It should be noted that the correspondence table of slope, angle, and speed adjustment factor is established in advance according to the actual situation or requirements.

[0089] Exemplarily, Table 1 is the correspondence table of slope, angle, and speed adjustment factor. As shown in Table 1 below, when the slope is 2% and the angle is 10 degrees, the speed adjustment factor is 1.0; when the slope is 5% and the angle is 10 degrees, the speed adjustment factor is 1.1.

[0090] Table 1

[0091] Gradient Angle Speed adjustment factor 2％ 10 degrees 1.0 5％ 10 degrees 1.1

[0092] In this embodiment, through the above steps, the efficiency of determining the moving speed adjustment factor is improved, and the accuracy of the subsequently determined moving speed is enhanced.

[0093] Step 215: Determine the moving speed by multiplying the initial moving speed and the moving speed adjustment factor.

[0094] In a specific implementation, moving speed = moving speed adjustment factor × initial moving speed.

[0095] In this embodiment, through the above steps, the accuracy and reliability of the determined moving speed are improved, and thus the accuracy of subsequent positioning is enhanced.

[0096] Step 216: Calculate the difference between the reference time and the marking time of the target calibration box to obtain the target time difference, and calculate the product of the target time difference and the moving speed to obtain the first distance.

[0097] Further, the reference time is determined as follows: Determine whether the marking information of the next calibration box of the target calibration box is received within the preset time range; if the marking information of the next calibration box is received within the preset time range, then determine the current time as the reference time; if the marking information of the next calibration box is not received within the preset time range, then calculate the difference between the pressure of the detector at each time point and the starting pressure of the detector within the preset time range to obtain the pressure difference at each time point; screen out the pressure differences that exceed the preset pressure threshold from the pressure differences at each time point to obtain a set of candidate pressure differences; in the set of candidate pressure differences, determine the recording time corresponding to the candidate pressure difference with the smallest difference from the marking time of the target calibration box as the reference time.

[0098] Specifically, the preset time range refers to a time period set in advance according to the actual situation or requirements. For example, the preset time range can be from the marking time of the target calibration box to 1 minute after that marking time. The marking information refers to the relevant information (such as time information, position information) recorded by the calibration box when the detector passes through a certain calibration box. The pressure of the detector refers to the pressure value measured when the detector moves in the pipeline. The starting pressure refers to the pressure value recorded when the detector departs from the emission point. The pressure difference at each time point refers to the difference between the pressure of the detector and the starting pressure at each time point within the preset time range. The preset pressure threshold refers to a pressure change threshold preset according to the actual situation or requirements. The set of candidate pressure differences refers to the set composed of all pressure differences that exceed the preset pressure threshold. The recording time refers to the time point associated with each pressure difference, indicating the moment when the pressure difference is recorded.

[0099] In the specific implementation, first, it is determined whether the marking information of the next calibration box of the target calibration box is received within the preset time range. If the marking information of the next calibration box is received within the preset time range, the current time is determined as the reference time to help achieve real-time positioning of the detector. If the marking information of the next calibration box is not received within the preset time range, the differences between the pressures of the detector at each time point and the starting pressure of the detector within the preset time range are calculated to obtain the pressure differences at each time point. Then, the pressure differences that exceed the preset pressure threshold are screened out from the pressure differences at each time point to obtain the set of candidate pressure differences. Finally, in the set of candidate pressure differences, the recording time corresponding to the candidate pressure difference with the smallest difference from the marking time of the target calibration box is determined as the reference time, thereby obtaining the time when the detector has an abnormality (such as jamming), which helps to achieve abnormal positioning of the detector.

[0100] In this embodiment, by determining the reference time through the above steps, it can not only help achieve real-time positioning of the detector under normal working conditions and timely master its running trajectory, but also help achieve positioning backtracking of the detector and quickly lock the specific time and location where the abnormality occurs when an abnormal working condition appears, providing strong support for subsequent fault troubleshooting and handling.

[0101] Step 217: Determine the distance from the starting calibration box to the target calibration box to obtain the second distance.

[0102] Step 218: Calculate the sum value of the first distance and the second distance to obtain the moved distance of the detector.

[0103] Exemplarily, such as Figure 2bAs shown in the figure, assuming the reference time is t (i.e., the time corresponding to the current position of the detector), the marked time of calibration box 2 is t1, the marked time of calibration box 2 is t2, the marked time of calibration box 3 is t3, t1 < t2 < t3 < t, the pipeline distance between calibration box 2 and calibration box 1 is L1, and the pipeline distance between calibration box 2 and calibration box 3 is L2. Then, the target calibration box can be determined as calibration box 3, the first distance is [L2 / (t3 - t2)]×(t - t3), the second distance is L1 + L2, and the moved distance is [L2 / (t3 - t2)]×(t - t3)+L1 + L2.

[0104] Step 219: Determine the speed of the transmitting detector as the moving speed.

[0105] In specific implementation, after determining that the target positioning box is the starting calibration box, the speed of the transmitting detector can be directly determined as the moving speed.

[0106] In this embodiment, through the above steps, the calculation steps are reduced, and the determination efficiency is significantly improved.

[0107] Step 220: Calculate the difference between the reference time and the sending time of the detector to obtain the target time difference.

[0108] In specific implementation, the target time difference = reference time - sending time of the detector.

[0109] In this embodiment, through the above steps, a data basis is provided for determining the moved distance later.

[0110] Step 221: Calculate the product of the target time difference and the moving speed to obtain the moved distance.

[0111] In specific implementation, the moved distance = moving speed × target time difference.

[0112] In this embodiment, through the above steps, the efficiency of determining the moved distance is improved, and the implementation complexity is reduced.

[0113] Step 222: Determine the real-time position of the detector according to the moved distance and the preset relationship.

[0114] Further, after step 222, it further includes: generating a detection progress report according to the real-time position and sending the detection progress report to the terminal of the staff.

[0115] Specifically, the detection progress report refers to a report on the progress of the detection work generated according to the real-time position of the detector. For example: The terminal can be a mobile phone or a computer.

[0116] In specific implementation, after obtaining the real-time position of the detector, a detection progress report can be generated based on the real-time position, and the detection progress report can be sent to the terminal of the staff through communication means such as text messages and emails. For example, the detection progress report includes the position, status of the detector, and the completed detection progress.

[0117] In addition, when the reference time is the time when the detector has an abnormality, in addition to generating a detection progress report based on the real-time position, a corresponding alarm message can be synchronously generated and quickly sent to the terminal of the staff to timely remind the staff that the detector has an abnormal condition, so that the staff can properly handle the abnormal situation in the first time and ensure the smooth progress of the detection work.

[0118] In this embodiment, through the above steps, it can help the staff to timely master the detection dynamics and ensure the normal progress of the detection work.

[0119] Therefore, in the technical solution of the present invention, first determining whether the target calibration box is the starting calibration box provides a judgment basis for the calculation method of the distance that the detector has moved later, enabling the solution to meet the requirements of different scenarios. If the target calibration box is not the starting calibration box, then calculate the difference between the marking time of the target calibration box and the marking time of the previous calibration box to obtain the marking time difference, which provides a data basis for determining the initial moving speed of the detector later. Then, calculate the ratio of the pipeline distance between the target calibration box and the previous calibration box to the marking time difference to obtain the initial moving speed of the detector, which provides a data basis for determining the moving speed later. Next, determine the slope between the target calibration box and the next calibration box according to the elevation information of the target calibration box and the elevation information of the next calibration box of the target calibration box to obtain the target slope, improving the efficiency of calculating the target slope and providing a data basis for determining the moving speed adjustment factor later. Then, based on the target slope and the angle information between the target calibration box and the next calibration box, determine the moving speed adjustment factor in the correspondence table of slope and angle with the speed adjustment factor, improving the efficiency of determining the moving speed adjustment factor and enhancing the accuracy of the moving speed determined later. Then, determine the moving speed by multiplying the initial moving speed and the moving speed adjustment factor, improving the accuracy and reliability of the determined moving speed, and further improving the accuracy of subsequent positioning. After that, calculate the difference between the reference time and the marking time of the target calibration box to obtain the target time difference, and calculate the product of the target time difference and the moving speed to obtain the first distance, reducing the complexity of determining the first distance, thus improving the speed of determining the real-time position later and providing a data basis for determining the distance that the detector has moved later. Then, determine the distance from the starting calibration box to the target calibration box to obtain the second distance, providing a data basis for determining the distance that the detector has moved later. Then, calculate the sum of the first distance and the second distance to obtain the distance that the detector has moved, simplifying the process of determining the moved distance, reducing the complexity of implementation, and providing a data basis for determining the real-time position of the detector later. Finally, determine the real-time position of the detector according to the moved distance and the preset relationship, not only realizing the real-time positioning of the detector, but also improving the positioning speed. If the target calibration box is the starting calibration box, then directly determine the speed of the transmitting detector as the moving speed, reducing the calculation steps and significantly improving the determination efficiency. Then, calculate the difference between the reference time and the sending time of the detector to obtain the target time difference, providing a data basis for determining the moved distance later. Then, multiply the target time difference by the moving speed to obtain the moved distance, improving the efficiency of determining the moved distance and reducing the implementation complexity. Finally, determine the real-time position of the detector according to the moved distance and the preset relationship, solving the problem in the prior art that the detector in the pipeline cannot be real-time positioned.

[0120] Figure 3Schematic structural diagram of a positioning device for an in-pipe detector provided by an embodiment of the present invention. This device and the positioning method of the in-pipe detector in each of the above embodiments belong to the same inventive concept. For the details not described in detail in the embodiment of the positioning device for the in-pipe detector, reference can be made to the embodiments of the positioning method of the in-pipe detector above.

[0121] As Figure 3 shown, the device includes:

[0122] A speed determination module 310, configured to determine the moving speed of the detector according to the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box; the target calibration box is the calibration box with the smallest difference between the marking time and the reference time;

[0123] A first distance determination module 320, configured to calculate the difference between the reference time and the marking time of the target calibration box to obtain a target time difference, and calculate the product of the target time difference and the moving speed to obtain a first distance;

[0124] A second distance determination module 330, configured to determine the distance from the starting calibration box to the target calibration box to obtain a second distance;

[0125] A moving distance determination module 340, configured to calculate the sum of the first distance and the second distance to obtain the moved distance of the detector;

[0126] A positioning module 350, configured to determine the real-time position of the detector according to the moved distance and a preset relationship; the preset relationship includes the mapping relationship between the moved distance and the real-time position.

[0127] Based on the above embodiments, the speed determination module 310 is specifically configured to:

[0128] Calculate the difference between the marking time of the target calibration box and the marking time of the previous calibration box to obtain a marking time difference;

[0129] Calculate the ratio of the pipeline distance between the target calibration box and the previous calibration box to the marking time difference to obtain the initial moving speed of the detector;

[0130] Determine the slope between the target calibration box and the next calibration box according to the elevation information of the target calibration box and the elevation information of the next calibration box of the target calibration box to obtain a target slope;

[0131] Determine a moving speed adjustment factor in a correspondence table of slope and angle with speed adjustment factors based on the target slope and the angle information between the target calibration box and the next calibration box;

[0132] Determine the product of the initial moving speed and the moving speed adjustment factor as the moving speed.

[0133] Based on the above embodiments, the speed determination module 310 determines the slope between the target calibration box and the next calibration box according to the elevation information of the target calibration box and the elevation information of the next calibration box of the target calibration box, and obtains the target slope, including:

[0134] Calculate the difference between the elevation information of the next calibration box and the elevation information of the target calibration box to obtain the target elevation difference;

[0135] According to the horizontal position information of the target calibration box and the horizontal position information of the next calibration box, calculate the horizontal distance between the target calibration box and the next calibration box to obtain the target horizontal distance;

[0136] Calculate the ratio of the target elevation difference to the target horizontal distance to obtain the target slope.

[0137] Based on the above embodiments, the reference time is determined as follows:

[0138] Determine whether the marking information of the next calibration box of the target calibration box is received within a preset time range;

[0139] If the marking information of the next calibration box is received within the preset time range, determine the current time as the reference time;

[0140] If the marking information of the next calibration box is not received within the preset time range, calculate the difference between the pressure of the detector at each time point within the preset time range and the starting pressure of the detector to obtain the pressure difference at each time point;

[0141] Screen out the pressure differences that exceed the preset pressure threshold from the pressure differences at each time point to obtain a set of candidate pressure differences;

[0142] In the set of candidate pressure differences, determine the recording time corresponding to the candidate pressure difference with the smallest difference from the marking time of the target calibration box as the reference time.

[0143] Based on the above embodiments, the device further includes:

[0144] A determination module, configured to determine whether the target calibration box is the starting calibration box before determining the moving speed of the detector according to the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box; if the target calibration box is not the starting calibration box, trigger the step of determining the moving speed of the detector according to the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box.

[0145] Based on the above embodiments, the device further includes:

[0146] A position determination module, configured to, after determining whether the target calibration box is the starting calibration box, if the target calibration box is the starting calibration box, determine the speed of the transmitting detector as the moving speed; calculate the difference between the reference time and the transmitting time of the detector to obtain the target time difference; calculate the product of the target time difference and the moving speed to obtain the moved distance; and determine the real-time position of the detector according to the moved distance and the preset relationship.

[0147] Based on the above embodiments, the device further includes:

[0148] A sending module, configured to generate a detection progress report according to the real-time position after determining the real-time position of the detector according to the moved distance and the preset relationship, and send the detection progress report to the terminal of the staff.

[0149] The positioning device of the in-pipe detector provided by the embodiments of the present invention can execute the positioning method of the in-pipe detector provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0150] It should be noted that in the embodiments of the above positioning device of the in-pipe detector, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0151] Figure 4 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. Figure 4 The block diagram of the exemplary electronic device 4 suitable for implementing the embodiments of the present invention is shown. Figure 4 The shown electronic device 4 is only an example and should not bring any limitation to the functions and usage scope of the embodiments of the present invention.

[0152] Such as Figure 4As shown, the electronic device 4 is presented in the form of a general-purpose computing electronic device. The components of the electronic device 4 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples different system components (including the system memory 28 and the processing unit 16).

[0153] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0154] The electronic device 4 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 4, including volatile and nonvolatile media, removable and non-removable media.

[0155] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 4 may further include other removable / non-removable, volatile / nonvolatile computer system storage media. By way of example only, a storage system 34 can be used for reading and writing on non-removable, nonvolatile magnetic media ( Figure 4 not shown, typically referred to as a "hard disk drive"). Although Figure 4 not shown in the figure, a disk drive for reading and writing on removable nonvolatile disks (such as a "floppy disk") and an optical disk drive for reading and writing on removable nonvolatile optical disks (such as a CD-ROM, DVD-ROM, or other optical media) can be provided. In these cases, each drive can be coupled to the bus 18 through one or more data media interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present invention.

[0156] A program / utility 40 having a set (at least one) of program modules 42 can be stored, for example, in the system memory 28. Such program modules 42 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, and the implementation of a network environment may be included in each or some combination of these examples. The program modules 42 generally perform the functions and / or methods described in the embodiments of the present invention.

[0157] The electronic device 4 can also communicate with one or more external devices 14 (such as a keyboard, a pointing device, a display 24, etc.), and can also communicate with one or more devices that enable a user to interact with the electronic device 4, and / or communicate with any device that enables the electronic device 4 to communicate with one or more other computing devices (such as a network card, a modem, etc.). Such communication can be carried out through an input / output (I / O) interface 22. Moreover, the electronic device 4 can also communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 20. As Figure 4 shown, the network adapter 20 communicates with other modules of the electronic device 4 through a bus 18. It should be understood that although Figure 4 not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device 4, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0158] The processing unit 16 executes various functional applications and page displays by running programs stored in the system memory 28. For example, it implements the positioning method of the in-pipe detector provided by the embodiments of the present invention. The method includes:

[0159] Determining the moving speed of the detector according to the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box; the target calibration box is the calibration box with the smallest difference between the marking time and the reference time;

[0160] Calculating the difference between the reference time and the marking time of the target calibration box to obtain a target time difference, and calculating the product of the target time difference and the moving speed to obtain a first distance;

[0161] Determining the distance from the starting calibration box to the target calibration box to obtain a second distance;

[0162] Calculating the sum value of the first distance and the second distance to obtain the moved distance of the detector;

[0163] Determining the real-time position of the detector according to the moved distance and a preset relationship; the preset relationship includes the mapping relationship between the moved distance and the real-time position.

[0164] Certainly, those skilled in the art can understand that the processor can also implement the technical solutions of the positioning method of the in-pipe detector provided by any embodiment of the present invention.

[0165] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements, for example, the positioning method of an in-pipe detector provided by the embodiment of the present invention. The method includes:

[0166] Determine the moving speed of the detector according to the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box; the target calibration box is the calibration box with the smallest difference between the marking time and the reference time;

[0167] Calculate the difference between the reference time and the marking time of the target calibration box to obtain a target time difference, and calculate the product of the target time difference and the moving speed to obtain a first distance;

[0168] Determine the distance from the starting calibration box to the target calibration box to obtain a second distance;

[0169] Calculate the sum of the first distance and the second distance to obtain the moved distance of the detector;

[0170] Determine the real-time position of the detector according to the moved distance and a preset relationship; the preset relationship includes the mapping relationship between the moved distance and the real-time position.

[0171] The computer storage medium of the embodiment of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0172] A computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.

[0173] The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0174] The computer program code for performing the operations of the present invention may be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0175] Those of ordinary skill in the art should understand that the various modules or steps of the present invention described above may be implemented using a general-purpose computing device. They may be centralized on a single computing device or distributed across a network composed of multiple computing devices. Optionally, they may be implemented using program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps among them may be fabricated into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0176] In addition, the acquisition, storage, use, processing, etc. of data in the technical solution of the present invention all comply with the relevant regulations of national laws and regulations.

[0177] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments here, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for positioning a detector in a pipeline, characterized in that: include: Determine the moving speed of the detector according to the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box; The target calibration box is a calibration box with the smallest difference between the marking time and the reference time; Calculating the difference between the reference time and the marking time of the target calibration box to obtain a target time difference, and calculating the product of the target time difference and the moving speed to obtain a first distance; Determine the distance from the starting calibration box to the target calibration box to obtain a second distance; Calculating a sum of the first distance and the second distance to obtain a moved distance of the detector; The real-time position of the detector is determined according to the moved distance and a preset relationship; the preset relationship includes a mapping relationship between the moved distance and the real-time position.

2. The method for positioning a detector in a pipeline according to claim 1, characterized in that: Determining the moving speed of the detector according to the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box, including: Calculate the difference between the marking time of the target calibration box and the marking time of the previous calibration box to obtain a marking time difference; Calculating the ratio of the pipeline distance between the target calibration box and the previous calibration box to the marking time difference to obtain the initial moving speed of the detector; Determine the slope between the target calibration box and the next calibration box according to the elevation information of the target calibration box and the elevation information of the next calibration box of the target calibration box, and obtain the target slope; Determining a moving speed adjustment factor in a corresponding relationship table of slopes, angles and speed adjustment factors based on the target slope and the angle information between the target calibration box and the next calibration box; The product of the initial moving speed and the moving speed adjustment factor is determined as the moving speed.

3. The method for positioning a detector in a pipeline according to claim 2, characterized in that: Determining the slope between the target calibration box and the next calibration box according to the elevation information of the target calibration box and the elevation information of the next calibration box of the target calibration box to obtain the target slope includes: Calculating the difference between the elevation information of the next calibration box and the elevation information of the target calibration box to obtain a target elevation difference; Calculate the horizontal distance between the target calibration box and the next calibration box according to the horizontal position information of the target calibration box and the horizontal position information of the next calibration box to obtain the target horizontal distance; The ratio of the target elevation difference to the target horizontal distance is calculated to obtain the target slope.

4. The method for positioning a detector in a pipeline according to claim 1, characterized in that: The reference time is determined as follows: Determining whether the marking information of the next calibration box of the target calibration box is received within a preset time range; If the marking information of the next marking box is received within the preset time range, the current time is determined as the reference time; If the marking information of the next calibration box is not received within the preset time range, the difference between the pressure of the detector at each time point within the preset time range and the initial pressure of the detector is calculated to obtain the pressure difference at each time point; Filter out the pressure differences exceeding a preset pressure threshold from the pressure differences at each time point to obtain a set of pressure differences to be selected; In the set of candidate pressure differences, the recording time corresponding to the candidate pressure difference having the smallest difference with the marking time of the target calibration box is determined as the reference time.

5. The method for positioning a detector in a pipeline according to claim 1, characterized in that: Before determining the moving speed of the detector according to the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box, the method further includes: Determining whether the target calibration box is the starting calibration box; If the target calibration box is not the starting calibration box, a step of determining the moving speed of the detector according to the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box is triggered.

6. The method for positioning a detector in a pipeline according to claim 5, characterized in that: After determining whether the target calibration box is the starting calibration box, the method further includes: If the target calibration box is the starting calibration box, the speed of the emission detector is determined as the moving speed; Calculating the difference between the reference time and the sending time of the detector to obtain the target time difference; Calculate the product of the target time difference and the moving speed to obtain the moved distance; The real-time position of the detector is determined according to the moved distance and the preset relationship.

7. The method for positioning a detector in a pipeline according to claim 1, characterized in that: After determining the real-time position of the detector according to the moved distance and the preset relationship, the method further includes: A detection progress report is generated according to the real-time position, and the detection progress report is sent to a terminal of a staff member.

8. A positioning device for a detector in a pipeline, characterized in that: include: A speed determination module, used to determine the moving speed of the detector according to the marking time of the target calibration box, the marking time of the previous calibration box of the target calibration box, and the pipeline distance between the target calibration box and the previous calibration box; The target calibration box is a calibration box with the smallest difference between the marking time and the reference time; A first distance determination module, configured to calculate the difference between the reference time and the marking time of the target calibration box to obtain a target time difference, and calculate the product of the target time difference and the moving speed to obtain a first distance; A second distance determination module, used to determine the distance from the starting calibration box to the target calibration box to obtain a second distance; A moving distance determination module, used for calculating the sum of the first distance and the second distance to obtain a moved distance of the detector; A positioning module is used to determine the real-time position of the detector according to the moved distance and a preset relationship; the preset relationship includes a mapping relationship between the moved distance and the real-time position.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively coupled to the at least one processor; The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method for positioning a detector in a pipeline as described in any one of claims 1-7.

10. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the method for positioning a detector in a pipeline as described in any one of claims 1 to 7 when executed by a computer processor.

Images