Transmission signal stability detection system and method for pipeline robot

Abstract

The invention relates to the technical field of information communication, and discloses a transmission signal stability detection system and method for a pipeline robot, and the method comprises the steps: collecting a wireless signal transmission mode of the pipeline robot, and selecting a transmission ball with the same transmission mode; pausing pipeline medium transmission, opening an inlet and outlet valve of the pipeline base station, placing a plurality of small transmission balls, closing the inlet and outlet valve, and opening pipeline medium transmission; collecting real-time data of the transmission small balls, constructing a transmission data set of each transmission small ball, analyzing the transmission data sets, and judging whether an abnormal position exists or not; when the abnormal position exists, adjusting and installing the signal repeater, and repeatedly placing and detecting until the abnormal position does not exist; and determining the signal quality grade of each position in the underground pipe network according to all the transmission data sets, and drawing a signal intensity distribution diagram of the underground pipe network. According to the invention, the communication stability of the robot in a complex pipe network is improved, the reliability of data return is ensured, and the operation risk is reduced.

Description

Technical Field

[0001] The present invention relates to the field of information and communication technologies, and in particular, to a transmission signal stability detection system and method for a pipeline robot, which is particularly suitable for complex signal transmission and detection of long-distance buried pipelines such as gas and oil pipelines. Background Art

[0002] With the acceleration of the urbanization process, the role of underground pipe networks in urban infrastructure has become increasingly prominent, and they are widely used in long-distance transportation such as gas and oil. The application of pipeline robots has played an important role in the inspection, maintenance, and fault troubleshooting of pipe networks, which can improve the operation efficiency and reduce the risks of manual inspection.

[0003] However, in complex pipe networks, the quality of signals will greatly affect the passability of pipeline robots in the pipe networks. At present, there are few methods to measure the signal quality of a certain frequency signal in a certain area of the pipe network. Once the signal of a cable-free pipeline robot is lost during passage in such a complex pipe network, it will stop working, affecting the reliability of data transmission back, and even increasing the operation risk of the pipeline robot.

[0004] Therefore, it is necessary to design a transmission signal stability detection system and method for a pipeline robot to solve the problems existing in the current technology. Summary of the Invention

[0005] In view of this, the present invention proposes a transmission signal stability detection system and method for a pipeline robot, aiming to solve the problem that the current cable-free pipeline robot loses contact due to signal quality.

[0006] On the one hand, the present invention proposes a transmission signal stability detection method for a pipeline robot, including:

[0007] S100: Collect the wireless signal transmission mode of the pipeline robot, and select a transmission ball with the same wireless signal transmission mode as the pipeline robot;

[0008] S200: Pause the pipeline medium transmission, open the inlet and outlet valves of the pipeline base station, place a plurality of the transmission balls, then close the inlet and outlet valves and start the pipeline medium transmission;

[0009] S300: Based on a signal analyzer, collect the real-time data of the transmission balls, construct a transmission data set for each transmission ball, analyze the transmission data set, and determine whether there is an abnormal position, where the abnormal position is the position where the transmission ball loses contact;

[0010] S400: When there is the abnormal position, adjust and install a signal repeater, and repeat S200 and S300 until there is no such abnormal position;

[0011] S500: Determine the signal quality level of each location in the underground pipe network based on all the said transmission data sets and draw a signal strength distribution map of the underground pipe network.

[0012] Furthermore, the said wireless signal transmission methods include: the working frequency bands of Wi-Fi communication, 2.4 GHz and 5 GHz; the working frequency bands of Zigbee, 2.4 GHz, 868 MHz and 915 MHz; the working frequency bands of Bluetooth, 2.4 GHz and the ISM band, the working frequency bands of Lora, 433 MHz, 868 MHz, 915 MHz; the working frequency bands of NB-IoT, 700 MHz and 900 MHz; the 4G low-frequency band, 700 - 900 MHz, and the 4G high-frequency band, 1.8 - 2.6 GHz.

[0013] Furthermore, the said real-time data includes real-time position and signal strength.

[0014] Furthermore, when analyzing the said transmission data sets to determine whether there are abnormal positions, it includes:

[0015] Analyze the transmission data sets of each said transmission ball. When the signal strength in the said transmission data set is zero, it is determined that there is an abnormal position, and record the abnormal position.

[0016] Furthermore, when determining the signal quality level of each location in the underground pipe network based on all the said transmission data sets, it includes:

[0017] Obtain the signal strength mean value of each location in the underground pipe network according to the transmission data sets of all the said transmission balls, and determine the signal quality level according to the signal strength mean value. The signal quality level is in a direct proportion relationship with the signal strength mean value.

[0018] Furthermore, when determining the signal quality level of each location in the underground pipe network based on all the said transmission data sets, it also includes:

[0019] Obtain the calculated signal strength of each location in the underground pipe network based on the penetration loss of radio signal theory;

[0020] Ly = Lfs + Lh;

[0021] Lfs = 32.44 + 20logd + 20logf;

[0022] Lz = Lj - Ly;

[0023] Among them, Lz represents the operation signal strength, Lj represents the base station signal transmission strength, Ly represents the signal loss value, Lfs represents the theoretical penetration loss of radio signals, Lh represents the environmental superposition loss, d represents the distance between the transceiver antennas, and f represents the radio signal frequency.

[0024] Further, when determining the signal quality level of each position in the underground pipe network according to all the transmission data sets, it further includes:

[0025] Compare the operation signal strength of each position in the underground pipe network with the average signal strength, and judge whether to adjust the signal quality level according to the comparison result;

[0026] Obtain the signal strength difference according to the operation signal strength and the average signal strength, and the signal strength difference is the absolute value of the difference between the operation signal strength and the average signal strength;

[0027] When the signal strength difference is greater than the difference threshold, it is determined to adjust the signal quality level;

[0028] When the signal strength difference is less than or equal to the difference threshold, it is determined not to adjust the signal quality level.

[0029] Further, when adjusting the signal quality level, it includes:

[0030] When the signal strength difference is greater than the difference threshold and less than or equal to 1.2 times the difference threshold, lower the signal quality level by one level;

[0031] When the signal strength difference is greater than 1.2 times the difference threshold, lower the signal quality level by two levels.

[0032] Compared with the prior art, the beneficial effects of the present invention are as follows: By selecting transmission balls with the same wireless signal transmission method as that used by the pipeline robot for the wireless signal transmission method of the pipeline robot, the detection results are more targeted and reliable. By pausing the pipeline medium transmission and releasing the transmission balls, the balls flow in the pipeline along with the medium, realizing the comprehensive collection of signal strengths at different positions in the entire pipe network, rather than relying solely on fixed-point measurements, so as to accurately evaluate the signal coverage and signal attenuation characteristics. Using a signal analyzer to collect and analyze the real-time data of the transmission balls can accurately identify abnormal positions where the signal is lost. When an abnormal signal area is detected, based on the detection results, the position of the signal repeater is dynamically adjusted until the signal transmission in the pipeline network reaches a stable state, which is beneficial to guiding the installation of wireless repeaters and improving the efficiency and accuracy of signal optimization. By constructing a complete transmission data set, evaluating the signal quality of each area of the underground pipe network, and drawing a signal strength distribution map, visual signal environment information is provided for the operation of the pipeline robot. The pipe network can be divided into areas according to different signal strength levels, which can be divided into drivable areas, non-drivable areas, and unknown areas. The signals in the drivable areas can meet the communication requirements, which is beneficial to the in-service inspection of the pipeline robot, thereby improving the communication stability of the robot in the complex pipe network, ensuring the reliability of data backhaul, and reducing the operation risk.

[0033] On the other hand, the present application also provides a transmission signal stability detection system for a pipeline robot, which is used to apply the above-mentioned transmission signal stability detection method for a pipeline robot, and includes:

[0034] A number of transmission balls, which have the same wireless signal transmission method as that of the pipeline robot;

[0035] Signal repeaters, which are arranged in the underground pipe network, and a plurality of the signal repeaters are provided for transmitting wireless signals;

[0036] A signal analyzer, which is connected to the transmission balls, and the signal analyzer is used to collect the real-time data of the transmission balls, construct a transmission data set for each transmission ball, analyze the transmission data set, and determine whether there is an abnormal position; determine the signal quality level of each position in the underground pipe network according to all the transmission data sets and draw a signal strength distribution map of the underground pipe network.

[0037] Further, the signal analyzer is further used for:

[0038] Obtaining the calculated signal strength of each position in the underground pipe network based on the penetration loss of radio signals; comparing the calculated signal strength of each position in the underground pipe network with the signal strength mean value, and determining whether to adjust the signal quality level according to the comparison result.

[0039] It is understandable that the above transmission signal stability detection system and method for pipeline robots have the same beneficial effects, which will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered as limiting the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0041] Figure 1 is a flowchart of a method for detecting the stability of a transmission signal for a pipeline robot provided by an embodiment of the present invention;

[0042] Figure 2 is an application schematic diagram of a transmission signal stability detection system for a pipeline robot provided by an embodiment of the present invention;

[0043] wherein, 100, transmission ball; 200, signal repeater; 300, signal analyzer; 410, pipeline valve; 420, inlet and outlet valve of the pipeline base station. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art. 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. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0045] In some embodiments of the present application, referring to Figure 1 as shown, a method for detecting the stability of a transmission signal for a pipeline robot includes:

[0046] S100: Collect the wireless signal transmission mode of the pipeline robot and select a transmission ball with the same wireless signal transmission mode as the pipeline robot.

[0047] S200: Pause the pipeline medium transmission, open the inlet and outlet valves of the pipeline base station, place a plurality of transmission balls, then close the inlet and outlet valves and start the pipeline medium transmission.

[0048] S300: Based on the signal analyzer, collect the real-time data of the transmission balls, construct a transmission data set for each transmission ball, analyze the transmission data set, and determine whether there is an abnormal position, and the abnormal position is the position where the transmission ball loses contact.

[0049] S400: When there is an abnormal position, adjust the installation of the signal repeater, and repeat S200 and S300 until there is no abnormal position.

[0050] S500: Determine the signal quality level of each position in the underground pipe network based on all the transmission data sets and draw a signal strength distribution map of the underground pipe network.

[0051] Specifically, in S100, due to the existence of different wireless signal transmission methods, first determine the wireless signal transmission method adopted by the pipeline robot, and select a transmission ball that matches it to ensure that the test results have high pertinence and reliability. The transmission ball can simulate the signal reception situation of the pipeline robot at different positions in the pipeline environment, thus truly reflecting the signal quality. In S200, in order to accurately test the signal quality in the pipeline, when the pipeline medium transmission is paused, multiple transmission balls are put into the pipeline. Subsequently, the medium flow is restored, and the transmission balls move with the flowing medium in the pipeline, traversing different positions to simulate the signal conditions that the pipeline robot may encounter during operation. Compared with the traditional fixed measurement point detection method, it can achieve a more comprehensive signal coverage test and reduce the influence of signal blind spots. In S300, during the process of the transmission ball flowing with the pipeline medium, the signal analyzer will collect its real-time data to construct a transmission data set for each transmission ball, including parameters such as signal strength, packet loss rate, and signal attenuation trend. Analyze these data to determine whether there is an abnormal position inside the pipeline, that is, the area where the signal is lost. Identify the specific position of signal attenuation or loss to provide a basis for subsequent optimization. In S400, when an abnormal signal position is found inside the pipeline, adjust or add signal repeaters in the abnormal area to enhance the signal coverage. After optimization, re-perform the tests of S200 and S300 to ensure that the signal blind spots are effectively eliminated. Through the cycle of testing and optimization, continuously improve the signal environment inside the pipeline. In S500, after completing the signal detection and optimization, based on all the collected transmission data sets, analyze and determine the signal quality levels of different positions in the pipeline network, and finally draw a signal strength distribution map of the underground pipe network. The distribution map can provide an intuitive reference for the signal environment, thereby improving the stability and reliability of inspection and maintenance work.

[0052] It can be understood that by introducing transmission balls to dynamically measure the signal quality inside the pipeline, the limitations of traditional fixed-point signal detection are broken through, and the precise optimization of the wireless signal coverage range of the pipeline robot is achieved. Compared with the traditional method of deploying signal repeaters based on experience, it can be scientifically optimized based on actual measurement data to ensure the effectiveness and uniformity of signal coverage, and avoid resource waste caused by blindly increasing or decreasing signal repeaters. The drawn signal strength distribution map can provide a visual reference for the signal environment, improving the intelligent level of inspection and maintenance and reducing the risk of task failure caused by signal problems.

[0053] In some embodiments of the present application, the wireless signal transmission methods include: the operating frequency bands of 2.4 GHz and 5 GHz for Wi-Fi communication; the operating frequency bands of 2.4 GHz, 868 MHz, and 915 MHz for Zigbee; the operating frequency bands of 2.4 GHz and the ISM band for Bluetooth; the operating frequency bands of 433 MHz, 868 MHz, and 915 MHz for Lora; the operating frequency bands of 700 MHz and 900 MHz for NB-IoT; the low frequency band of 700 - 900 MHz for 4G, and the high frequency band of 1.8 - 2.6 GHz for 4G.

[0054] Specifically, the wireless signals include Wi-Fi communication with operating frequency bands of 2.4 GHz and 5 GHz; Zigbee with operating frequency bands of 2.4 GHz, 868 MHz, and 915 MHz; Bluetooth, operating in the 2.4 GHz ISM band for short-range communication; Lora (Long Range, suitable for long distances) with frequency bands such as 433 MHz, 868 MHz, and 915 MHz; NB-IoT (NarrowBand Internet of Things) with 700 MHz and 900 MHz allocated by the operator; 4G (Fourth Generation, the fourth-generation mobile communication), with a low frequency band (700 - 900 MHz, wide coverage) and a high frequency band (1.8 - 2.6 GHz, high rate).

[0055] It can be understood that compatibility support for different wireless technologies is provided for the pipeline robot, enabling it to adaptively optimize the communication mode under different working conditions, ensuring the continuity and reliability of data transmission, and improving the intelligent level of pipeline inspection and maintenance.

[0056] In some embodiments of the present application, the real-time data includes real-time position and signal strength.

[0057] In some embodiments of the present application, when analyzing the transmission data set to determine whether there is an abnormal position, it includes: analyzing the transmission data set of each transmission ball, and when the signal strength in the transmission data set is zero, determining that there is an abnormal position and recording the abnormal position.

[0058] It can be understood that by introducing the real-time data acquisition and signal strength analysis method, the identification of signal abnormal positions is made more accurate and efficient. Compared with the traditional manual inspection or fixed measurement point detection method, it can realize the dynamic monitoring of the signal strength at all positions inside the pipeline, avoiding the problem that the fixed measurement point method may miss signal blind spots. By automatically analyzing the signal data and determining the abnormal position, the efficiency and accuracy of abnormal detection are improved, ensuring that signal optimization can be precisely adjusted for specific problem areas.

[0059] In some embodiments of the present application, when determining the signal quality level of each position in the underground pipe network according to all transmission data sets, it includes: obtaining the average signal strength of each position in the underground pipe network according to the transmission data sets of all transmission balls, and determining the signal quality level according to the average signal strength. The signal quality level is in a proportional relationship with the average signal strength.

[0060] It can be understood that, compared with single measurement or fixed-point sampling, using the measurement data of multiple transmission balls for statistical analysis improves the accuracy and representativeness of signal measurement. Through the division of the signal quality level, areas with good signal coverage and signal blind spots can be intuitively identified, further improving the communication stability of the pipeline robot in the underground pipe network.

[0061] In some embodiments of the present application, when determining the signal quality level of each position in the underground pipe network according to all transmission data sets, it further includes:

[0062] Obtaining the calculated signal strength of each position in the underground pipe network based on the penetration loss of radio signal theory;

[0063] Ly = Lfs + Lh;

[0064] Lfs = 32.44 + 20logd + 20logf;

[0065] Lz = Lj - Ly;

[0066] Wherein, Lz represents the calculated signal strength, Lj represents the base station signal transmission strength, Ly represents the signal loss value, Lfs represents the penetration loss of radio signal theory, Lh represents the environmental superposition loss, d represents the distance between the transceiver antennas, and f represents the radio signal frequency.

[0067] Specifically, Lfs represents the free space path loss, with the unit of dB, indicating the energy attenuation of the signal propagating in an ideal vacuum environment. f is the radio signal frequency, with the unit of megahertz, and d is the distance between the transceiver antennas, with the unit of kilometer. Lh represents the environmental superposition loss, such as the loss value of the actual scenario with superimposed obstacles and atmospheric absorption. For example, the building penetration loss is about 10 to 25 dB.

[0068] In some embodiments of the present application, when determining the signal quality level of each position in the underground pipe network according to all transmission data sets, it further includes: comparing the calculated signal strength of each position in the underground pipe network with the average signal strength, and judging whether to adjust the signal quality level according to the comparison result;

[0069] Specifically, a signal intensity difference is obtained based on the operation signal intensity and the average signal intensity. The signal intensity difference is the absolute value of the difference between the operation signal intensity and the average signal intensity. When the signal intensity difference is greater than the difference threshold, it is determined that the signal quality level is adjusted. When the signal intensity difference is less than or equal to the difference threshold, it is determined that the signal quality level is not adjusted.

[0070] Specifically, when adjusting the signal quality level, it includes: when the signal intensity difference is greater than the difference threshold and less than or equal to 1.2 times the difference threshold, the signal quality level is lowered by one level. When the signal intensity difference is greater than 1.2 times the difference threshold, the signal quality level is lowered by two levels.

[0071] Specifically, if the signal quality level is level three, and level one is greater than level two, and level two is greater than level three, and the original signal quality level is level two, when it is determined to lower the signal quality level by one level, the original signal quality level is adjusted to level three. When the original signal quality level is level three and it is determined to lower the signal quality level by one level, the original signal quality level remains unchanged.

[0072] It can be understood that by combining theoretical calculations and actual measurement data, a more accurate assessment and dynamic adjustment of the signal quality of the underground pipe network are achieved. Traditional signal assessment relies on single measurement data and is easily affected by factors such as environmental noise and measurement errors, resulting in inaccurate assessment results. In this embodiment, the operation signal intensity is calculated through the radio signal propagation theory and compared with the measured average value, improving the detection accuracy. The automatic adjustment mechanism of the signal quality level ensures the accuracy of the assessment and further enhances the stability of the communication of the pipeline robot.

[0073] In the above embodiments, by selecting transmission balls with the same wireless signal transmission method used by the pipeline robot for the wireless signal transmission method, the detection results are more targeted and reliable. By pausing the pipeline medium transmission and releasing the transmission balls, the balls flow in the pipeline along with the medium, realizing the comprehensive acquisition of the signal strength at different positions in the entire pipe network, rather than relying only on fixed-point measurements, so that the signal coverage and signal attenuation characteristics can be accurately evaluated. Using a signal analyzer to collect and analyze the real-time data of the transmission balls can accurately identify abnormal positions where the signal is lost. When an abnormal signal area is detected, based on the detection results, the position of the signal repeater is dynamically adjusted until the signal transmission in the pipeline network reaches a stable state, which is beneficial to guiding the installation of wireless repeaters and improving the efficiency and accuracy of signal optimization. By constructing a complete transmission data set, evaluating the signal quality of each area of the underground pipe network, and drawing a signal strength distribution map, visual signal environment information is provided for the operation of the pipeline robot. The pipe network can be divided into areas according to different signal strength levels, which can be divided into drivable areas, non-drivable areas, and unknown areas. The signals in the drivable areas can meet the communication requirements, which is beneficial to the in-service inspection of the pipeline robot, thus improving the communication stability of the robot in the complex pipe network, ensuring the reliability of data backhaul, and reducing the operation risk.

[0074] In another preferred embodiment based on the above embodiments, refer to Figure 2 As shown, this embodiment provides a transmission signal stability detection system for a pipeline robot and a transmission signal stability detection method for a pipeline robot, including:

[0075] A plurality of transmission balls 100 are provided, and the transmission balls 100 have the same wireless signal transmission method as the pipeline robot;

[0076] Signal repeaters 200 are provided in the underground pipe network. A plurality of signal repeaters 200 are provided for transmitting wireless signals;

[0077] A signal analyzer 300 is connected to the transmission balls 100. The signal analyzer 300 is used to collect the real-time data of the transmission balls 100, construct a transmission data set for each transmission ball 100, analyze the transmission data set, and determine whether there are abnormal positions; according to all transmission data sets, determine the signal quality level of each position in the underground pipe network and draw a signal strength distribution map of the underground pipe network.

[0078] In some embodiments of the present application, the signal analyzer is further used for: obtaining the calculated signal strength of each position in the underground pipe network based on the penetration loss of radio signals; comparing the calculated signal strength of each position in the underground pipe network with the signal strength mean value, and determining whether to adjust the signal quality level according to the comparison result.

[0079] Specifically, the transmission ball 100 is made of waterproof and anti-corrosion materials (such as high-strength engineering plastics) to ensure that it can operate in various media (such as natural gas, water, oil, etc.) without damage for a long time. It is built-in with a receiving unit that supports multiple wireless communication protocols (such as Wi-Fi, Zigbee, LoRa, NB-IoT, etc.) to collect real-time signal strength data in the pipeline. It is equipped with a microprocessor to process and store signal data, or transmit it to an external data acquisition system in real time. It is equipped with a positioning module to record the approximate position of the ball in the pipeline, so that the signal strength can be associated with the specific position when the data is transmitted back. It uses a micro lithium battery or energy recovery technology (such as a fluid self-charging system) to ensure that the ball can collect data throughout the detection process.

[0080] The application process of the system is as follows:

[0081] Collect the wireless signal transmission method of the pipeline robot, and select the transmission ball 100 with the same wireless signal transmission method as the pipeline robot;

[0082] Pause the pipeline medium transmission through the pipeline valve 410, open the inlet and outlet valves 420 of the pipeline base station, place several transmission balls 100, then close the inlet and outlet valves and start the pipeline medium transmission;

[0083] Based on the signal analyzer 300, collect the real-time data of the transmission ball, construct the transmission data set of each transmission ball 100, analyze the transmission data set, and determine whether there is an abnormal position. The abnormal position is the position where the transmission ball 100 loses contact;

[0084] When there is an abnormal position, adjust and install the signal repeater 200, and repeat S200 and S300 until there is no abnormal position;

[0085] Determine the signal quality level of each position in the underground pipe network according to all transmission data sets and draw the signal strength distribution map of the underground pipe network.

[0086] It can be understood that by selecting transmission balls using the same wireless signal transmission method as that used by the pipeline robot, the detection results are more targeted and reliable. By pausing the pipeline medium transmission and releasing the transmission balls, the balls flow with the medium in the pipeline, enabling comprehensive collection of signal strengths at different positions throughout the pipe network, rather than relying solely on fixed-point measurements. This allows for accurate assessment of signal coverage and signal attenuation characteristics. By using a signal analyzer to collect and analyze the real-time data of the transmission balls, abnormal positions where the signal is lost can be accurately identified. After detecting an abnormal signal area, the position of the signal repeater is dynamically adjusted based on the detection results until the signal transmission in the pipeline network reaches a stable state, which is beneficial for guiding the installation of wireless repeaters and improving the efficiency and accuracy of signal optimization. By constructing a complete transmission data set, evaluating the signal quality in various areas of the underground pipe network, and drawing a signal strength distribution map, visual signal environment information is provided for the operation of the pipeline robot. The pipe network can be divided into regions according to different signal strength levels, which can be divided into drivable regions, non-drivable regions, and unknown regions. The signals in the drivable regions can meet the communication requirements, which is beneficial for the in-service inspection of the pipeline robot, thereby improving the communication stability of the robot in complex pipe networks, ensuring the reliability of data transmission back, and reducing the operation risk.

[0087] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0088] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of flows and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one or more of the flows or multiple flows and / or blocks Figure 1 one or more of the blocks or multiple blocks.

[0089] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to work in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in one or more of the processes Figure 1 or blocks Figure 1 specified in one or more of the processes and / or blocks.

[0090] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable apparatus provide steps for implementing the functions specified in one or more of the processes Figure 1 or blocks Figure 1 specified in one or more of the processes and / or blocks.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific embodiments of the present invention. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention shall be covered by the protection scope of the claims of the present invention.

Claims

1. A transmission signal stability detection method for a pipeline robot, characterized in that: include: S100: Collecting the wireless signal transmission mode of the pipeline robot, and selecting a transmission ball with the same wireless signal transmission mode as the pipeline robot; S200: suspending pipeline medium transmission, opening the inlet and outlet valves of the pipeline base station, placing a number of transmission balls, closing the inlet and outlet valves and opening pipeline medium transmission; S300: collecting real-time data of the transmission ball based on a signal analyzer, constructing a transmission data set of each transmission ball, analyzing the transmission data set, and determining whether there is an abnormal position, where the abnormal position is a position where the transmission ball loses connection; S400: When the abnormal position exists, adjust and install the signal repeater, and repeat S200 and S300 until the abnormal position does not exist; S5 00: Determine the signal quality level of each location in the underground pipe network based on all the transmission data sets and draw a signal strength distribution map of the underground pipe network.

2. The transmission signal stability detection method for a pipeline robot according to claim 1, characterized in that: The wireless signal transmission methods include: Wi-Fi communication working frequency bands 2.4GHz and 5GHz; Zigbee working frequency bands 2.4GHz, 868MHz and 915MHz; Bluetooth working frequency bands 2.4GHz and ISM bands, Lora working frequency bands 433MHz, 868MHz, 915MHz; NB-IoT working frequency bands 700MHz and 900MHz; 4G low frequency bands 700-900MHz, 4G high frequency bands 1.8-2.6GHz.

3. The transmission signal stability detection method for a pipeline robot according to claim 1, characterized in that: The real-time data includes real-time location and signal strength.

4. The transmission signal stability detection method for a pipeline robot according to claim 1, characterized in that: Analyzing the transmission data set to determine whether there is an abnormal location includes: The transmission data set of each transmission ball is analyzed, and when the signal strength in the transmission data set is zero, it is determined that an abnormal position exists, and the abnormal position is recorded.

5. The transmission signal stability detection method for a pipeline robot according to claim 1, characterized in that: When determining the signal quality level at each location in the underground pipe network based on all of the transmission data sets, including: The signal strength mean value at each position in the underground pipe network is obtained according to the transmission data set of all the transmission balls, and the signal quality level is determined according to the signal strength mean value, and the signal quality level is proportional to the signal strength mean value.

6. The transmission signal stability detection method for a pipeline robot according to claim 1, characterized in that: When determining the signal quality level of each location in the underground pipe network based on all the transmission data sets, it also includes: Obtaining the calculated signal strength at each location in the underground pipe network based on the theoretical penetration loss of the radio signal; Ly=Lfs+Lh; Lfs=32.44+20logd+20logf; Lz=Lj-Ly; Among them, Lz represents the calculated signal strength, Lj represents the base station signal transmission strength, Ly represents the signal loss value, Lfs represents the theoretical penetration loss of the radio signal, Lh represents the environmental superposition loss, d represents the distance between the transmitting and receiving antennas, and f represents the radio signal frequency.

7. The transmission signal stability detection method for a pipeline robot according to claim 6, characterized in that: When determining the signal quality level of each location in the underground pipe network based on all the transmission data sets, it also includes: Comparing the calculated signal strength at each location in the underground pipe network with the signal strength mean, and determining whether to adjust the signal quality level according to the comparison result; Acquire a signal strength difference according to the calculated signal strength and the signal strength mean, wherein the signal strength difference is the absolute value of the difference between the calculated signal strength and the signal strength mean; When the signal strength difference is greater than a difference threshold, determining to adjust the signal quality level; When the signal strength difference is less than or equal to the difference threshold, it is determined not to adjust the signal quality level.

8. The transmission signal stability detection method for a pipeline robot according to claim 7, characterized in that: Adjusting the signal quality level includes: When the signal strength difference is greater than the difference threshold and less than or equal to 1.2 times the difference threshold, the signal quality level is reduced by one level; When the signal strength difference is greater than 1.2 times the difference threshold, the signal quality level is reduced by two levels.

9. A transmission signal stability detection system for a pipeline robot, used for applying the transmission signal stability detection method for a pipeline robot according to any one of claims 1 to 8, characterized in that: include: A plurality of transmission balls are provided, and the transmission balls have the same wireless signal transmission mode as the pipeline robot; A signal repeater is arranged in the underground pipe network, and a plurality of signal repeaters are arranged for transmitting wireless signals; A signal analyzer is connected to the transmission ball, and is used to collect real-time data of the transmission ball, construct a transmission data set for each transmission ball, analyze the transmission data set, and determine whether there is an abnormal position; determine the signal quality level of each position in the underground pipe network based on all the transmission data sets and draw a signal strength distribution map of the underground pipe network.

10. The transmission signal stability detection system for a pipeline robot according to claim 9, characterized in that: The signal analyzer is also used for: The operational signal strength of each position in the underground pipe network is obtained based on the theoretical penetration loss of the radio signal; the operational signal strength of each position in the underground pipe network is compared with the mean signal strength, and it is determined whether to adjust the signal quality level according to the comparison result.

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