Method and device for positioning detector in pipeline and computer equipment

Abstract

The embodiment of the invention provides a pipeline inner detector positioning method and device and computer equipment, the method is applied to an inner detector positioning system, and the inner detector positioning system comprises an inner detector, at least one calibration box and a server. The method comprises the steps that the single-chip microcomputer collects a first induction signal generated by the first coil and a second induction signal generated by the second coil; respectively carrying out fast Fourier transform on the first induction signal and the second induction signal to obtain a first frequency domain signal and a second frequency domain signal; judging whether the first frequency domain signal and / or the second frequency domain signal comprises a preset frequency signal or not; if yes, it is judged that the inner detector is located in the sensing range of the calibration box, and the first sensing signal and the second sensing signal are uploaded to a server, so that the server determines the moment when the inner detector is located under the calibration box according to the first sensing signal and the second sensing signal. According to the method, the inner detector running in the pipeline can be accurately and conveniently positioned and searched.

Description

Technical Field

[0001] The embodiments of this specification relate to the technical field of pipeline detection, and in particular, to a method, device, and computer device for positioning an in-pipe detector. Background Art

[0002] When an in-pipe detector runs inside a pipeline for internal detection, it is necessary to know the running position of the in-pipe detector in a timely manner to prevent the in-pipe detector from getting stuck and affecting the normal crude oil transportation. In the prior art, a calibration box for in-pipe detectors is usually used to find and locate the in-pipe detector running inside the pipeline. However, the prior art has defects such as low low-frequency activation probability, high false alarm probability for passing balls, serious environmental interference, small detection range, single function, and easy loss.

[0003] In view of this, the embodiments of this specification aim to provide a method, device, and computer device for positioning an in-pipe detector. Summary of the Invention

[0004] Aiming at the above problems of the prior art, the purpose of the embodiments of this specification is to provide a method, device, and computer device for positioning an in-pipe detector to solve the problems of low low-frequency activation probability, high false alarm probability for passing balls, serious environmental interference, small detection range, single function, etc. existing in the detection equipment of the prior art.

[0005] To solve the above technical problems, the specific technical solutions of the embodiments of this specification are as follows:

[0006] In a first aspect, the embodiments of this specification provide a method for positioning an in-pipe detector, where the method is applied to an in-pipe detector positioning system, and the in-pipe detector positioning system includes an in-pipe detector, at least one calibration box, and a server;

[0007] The in-pipe detector runs inside the pipeline to be detected and detects the inside of the pipeline. A transmitter is provided on the in-pipe detector, and the transmitter is used to transmit a low-frequency signal;

[0008] At least one of the calibration boxes is sequentially arranged on the ground above the pipeline at a preset interval along the direction of the pipeline. A first coil, a second coil, and a single-chip microcomputer are arranged in the calibration box. The first coil is arranged along the direction of the pipeline, the second coil is perpendicular to the direction of the pipeline, and both the first coil and the second coil are used to generate induced signals under the action of the low-frequency signal. The single-chip microcomputer is connected to the first coil and the second coil;

[0009] The server is connected to the calibration box;

[0010] The method includes:

[0011] The single-chip microcomputer collects the first induction signal generated by the first coil and the second induction signal generated by the second coil;

[0012] The first induction signal and the second induction signal are respectively subjected to fast Fourier transform to obtain a first frequency-domain signal and a second frequency-domain signal;

[0013] Judge whether the first frequency-domain signal and / or the second frequency-domain signal includes a preset frequency signal;

[0014] If so, it is determined that the internal detector is within the induction range of the calibration box, and the first induction signal and the second induction signal are uploaded to the server, so that the server determines the time when the internal detector is directly below the calibration box according to the first induction signal and the second induction signal.

[0015] Specifically, determining the time when the internal detector is directly below the calibration box according to the first induction signal and the second induction signal further includes:

[0016] Determine the first time when the amplitude in the first induction signal reaches the maximum value;

[0017] Determine the second time when the amplitude in the second induction signal reaches the minimum value;

[0018] According to the first time and the second time, determine the time when the internal detector is directly below the calibration box.

[0019] Further, determining the time when the internal detector is directly below the calibration box according to the first time and the second time further includes:

[0020] Judge whether the time difference between the first time and the second time is within a preset time difference range;

[0021] If so, determine the first time / the second time as the time when the internal detector is directly below the calibration box.

[0022] Specifically, the calibration box further includes an alarm module;

[0023] When the first frequency-domain signal and / or the second frequency-domain signal includes a preset frequency signal, the method further includes:

[0024] Control the alarm module to work, and prompt the technical personnel through a preset alarm channel, and the preset alarm channel includes at least one or a combination of more than one of text messages, emails, applets, official accounts, voice broadcasts, warning lights.

[0025] Preferably, the calibration box further includes a Beidou module / GPS module;

[0026] Before collecting the first induction signal and the second induction signal, the method further includes:

[0027] Calibrating the position and time of the calibration box by using a Beidou module / GPS module.

[0028] Preferably, the calibration box further includes a housing;

[0029] The first coil, the second coil and the single-chip microcomputer are arranged inside the housing;

[0030] A portable handle is further arranged on the housing, and the portable handle is used to move the calibration box.

[0031] Further, the method further includes:

[0032] Obtaining the moment when the internal detector passes directly below each of the calibration boxes arranged along the pipeline;

[0033] Judging whether the internal detector is stuck in the pipeline according to the speed of the internal detector traveling and detecting in the pipeline, the distance between two adjacent calibration boxes, and the moment when the internal detector passes directly below each of the calibration boxes arranged along the pipeline;

[0034] If so, select the calibration box corresponding to the nearest moment as the target calibration box, and drive the target calibration box to move along the pipeline by using the portable handle until the first frequency domain signal and the second frequency domain signal respectively obtained by performing fast Fourier transform on the first induction signal generated by the first coil and the second induction signal generated by the second coil include a preset frequency signal, and the amplitude of the first induction signal is the maximum value and the amplitude of the second induction signal is the minimum value, so as to determine that the internal detector is located directly below the position where the target calibration box is located.

[0035] In a second aspect, an embodiment of the present specification provides a positioning device for an in-pipeline detector, and the device includes:

[0036] An acquisition module, configured to acquire a first induction signal generated by the first coil and a second induction signal generated by the second coil;

[0037] A Fourier transform module, configured to perform fast Fourier transform on the first induction signal and the second induction signal respectively to obtain a first frequency domain signal and a second frequency domain signal;

[0038] A judgment module, configured to judge whether a preset frequency signal is included in the first frequency domain signal and / or the second frequency domain signal;

[0039] A determination and upload module, configured to determine that the in-line detector is within a preset range of the calibration box if so, and upload the first induction signal and the second induction signal to a server, so that the server determines the time when the in-line detector is directly below the calibration box according to the first induction signal and the second induction signal.

[0040] In a third aspect, an embodiment of this specification provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the method provided by the above technical solution is implemented.

[0041] In a fourth aspect, an embodiment of this specification provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method provided by the above technical solution is implemented.

[0042] In a fifth aspect, an embodiment of this specification provides a computer program product, including at least one instruction or at least one segment of a program. The at least one instruction or the at least one segment of the program is loaded and executed by a processor to implement the method provided by the above technical solution.

[0043] By adopting the above technical solution, a method, a device, and a computer device for positioning an in-line detector in a pipeline provided by an embodiment of this specification can accurately and conveniently position and search for the in-line detector running inside the pipeline.

[0044] To make the above and other purposes, features, and advantages of the embodiments of this specification more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, provides detailed descriptions as follows. Description of the Drawings

[0045] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the following described accompanying drawings are only some embodiments of this specification. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0046] Figure 1 A step schematic diagram of a method for positioning an in-line detector in a pipeline provided by an embodiment of this specification is shown;

[0047] Figure 2 A structural schematic diagram of an in-line detector positioning system is shown;

[0048] Figure 3 A structural schematic diagram of a single-chip microcomputer is shown;

[0049] Figure 4Schematic diagram of steps for determining the moment when the internal detector is directly below the calibration box;

[0050] Figure 5 Schematic diagram showing the first induction signal and the second induction signal;

[0051] Figure 6 Schematic diagram of the structure of a pipeline internal detector positioning device provided in an embodiment of this specification;

[0052] Figure 7 Schematic diagram of the structure of a computer device provided in an embodiment of this specification.

[0053] Explanation of reference signs in the drawings:

[0054] 10. Internal detector;

[0055] 20. Calibration box;

[0056] 21. First coil;

[0057] 22. Second coil;

[0058] 23. Portable handle;

[0059] 30. Server;

[0060] 40. Pipeline;

[0061] 61. Acquisition module;

[0062] 62. Fourier transform module;

[0063] 63. Judgment module;

[0064] 64. Determination and upload module;

[0065] 702. Computer device;

[0066] 704. Processor;

[0067] 706. Memory;

[0068] 708. Driving mechanism;

[0069] 710. Input / output module;

[0070] 712. Input device;

[0071] 714. Output device;

[0072] 716. Presentation device;

[0073] 718. Graphical user interface;

[0074] 720. Network interface;

[0075] 722. Communication link;

[0076] 724. Communication bus. Detailed implementation manner

[0077] The following will clearly and completely describe the technical solutions in the embodiments of this specification with reference to the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of this specification, rather than all the embodiments. Based on the embodiments in this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this specification.

[0078] It should be noted that the terms "first", "second", etc. in this specification, the claims and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of this specification described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or equipment comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or equipment.

[0079] To solve the above problems, the embodiments of this specification provide a method, device and computer device for positioning an in-pipe detector, which can accurately locate the position of an in-pipe detector that runs inside a pipeline and identifies and detects defects inside the pipeline. Figure 1 It is a schematic diagram of the steps of a method for positioning an in-pipe detector provided by the embodiments of this specification. This specification provides the method operation steps as described in the embodiments or flowcharts, but based on routine or non-creative labor, there may be more or fewer operation steps. The step order listed in the embodiments is only one way among the execution orders of numerous steps, and does not represent the only execution order. When the actual system or device product executes, it can be executed in the order shown in the embodiments or the drawings or executed in parallel. Specifically, the method is applied to an in-pipe detector positioning system, as Figure 2 shown, the in-pipe detector positioning system includes an in-pipe detector 10, at least one calibration box 20 and a server 30;

[0080] The in-pipe detector 10 runs inside the pipeline 40 to be detected and detects the inside of the pipeline. A transmitter is provided on the in-pipe detector 10, and the transmitter is used to transmit low-frequency signals;

[0081] At least one of the calibration boxes 20 is arranged on the ground above the pipeline 40 at preset intervals in the direction of the pipeline, and a first coil 21, a second coil 22 and a single-chip microcomputer ( Figure 2 not shown in the figure) are arranged in the calibration box 20. The first coil 21 is arranged in the direction of the pipeline 40, and the second coil 22 is arranged perpendicular to the direction of the pipeline 40. Both the first coil 21 and the second coil 22 are used to generate induction signals under the action of the low-frequency signal, and the single-chip microcomputer is connected to the first coil 21 and the second coil 22;

[0082] The server 30 is connected to the calibration box 20, that is, the calibration box 20 can be connected to the server in a wired manner through a control line or a data line, etc., or can be wirelessly connected to the server through wireless communication technology.

[0083] As Figure 1 shown, the method for positioning the in-pipeline detector may include:

[0084] S101: The single-chip microcomputer collects the first induction signal generated by the first coil and the second induction signal generated by the second coil.

[0085] Specifically, the first coil and the second coil can be respectively connected to the corresponding pins (such as the acquisition AD pins) of the single-chip microcomputer. When the in-pipeline detector is within the induction range of the first coil and the second coil, the low-frequency signal emitted by the transmitter on the in-pipeline detector will be transmitted through the ground and be sensed by the first coil and the second coil; furthermore, the first coil and the second coil respectively generate electrical signals under the action of electromagnetic induction and are collected by the single-chip microcomputer through the corresponding pins.

[0086] It should be noted that in the embodiments of this specification, the low-frequency signal emitted by the transmitter of the in-pipeline detector is a 23 Hz signal. This low-frequency signal has strong penetration ability and can penetrate deeper strata, and can meet the positioning requirements of the in-pipeline detector buried underground.

[0087] S102: The first induction signal and the second induction signal are respectively subjected to fast Fourier transform to obtain a first frequency-domain signal and a second frequency-domain signal.

[0088] S103: Determine whether the first frequency-domain signal and / or the second frequency-domain signal includes a preset frequency signal.

[0089] The preset frequency is 23 Hz, that is, it is determined whether the first frequency-domain signal and / or the second frequency-domain signal includes a 23 Hz low-frequency signal.

[0090] S104: If so, determine that the internal detector is within the sensing range of the calibration box, and upload the first induction signal and the second induction signal to the server, so that the server determines the moment when the internal detector is directly below the calibration box according to the first induction signal and the second induction signal.

[0091] If so, it indicates that the internal detector travels from inside the pipeline and enters the sensing range of the calibration box, thus realizing the preliminary positioning of the internal monitor in the pipeline. Then, further determine the moment when the internal detector passes directly below the calibration box according to the first induction signal and the second induction signal to achieve precise positioning of the internal detector.

[0092] After determining the moment when the internal detector passes directly below the calibration box, it can be used for time alignment of the data detected by the subsequent internal detector (such as the location of internal defects in the pipeline); that is, if only using the clock function of the internal detector itself, there may be a problem of inaccurate positioning of internal defects in the pipeline. After alignment using the moment when the internal detector passes directly below the calibration box, it is beneficial to more accurately determine the location of defects in the pipeline and facilitate subsequent excavation and maintenance.

[0093] In summary, a method for positioning an internal detector in a pipeline provided by an embodiment of this specification can accurately and conveniently position and find the internal detector running inside the pipeline.

[0094] Further, as Figure 4 shown, in step S104, determining the moment when the internal detector is directly below the calibration box according to the first induction signal and the second induction signal further includes:

[0095] S401: Determine the first moment when the amplitude in the first induction signal reaches the maximum value;

[0096] S402: Determine the second moment when the amplitude in the second induction signal reaches the minimum value;

[0097] S403: Determine the moment when the internal detector is directly below the calibration box according to the first moment and the second moment.

[0098] In the embodiment of this specification, since the first coil is consistent with the direction of the pipeline, and the second coil is perpendicular to the direction of the pipeline; therefore, the first coil has the strongest induction to the low-frequency signal emitted by the internal detector transmitter, and the second coil has the weakest induction to the low-frequency signal. When the internal detector passes directly below the calibration box, the distance between the internal detector and the calibration box is the shortest. At this time, the first coil has the largest induction signal, and the second coil has the smallest induction signal. Thus, the moment when the internal detector passes directly below the calibration box can be determined according to the amplitude of the first induction signal and the amplitude of the second induction signal, and the method is accurate and convenient.

[0099] Further, step S403: Determining the moment when the inner detector is directly below the calibration box according to the first moment and the second moment further includes:

[0100] Judging whether the time difference between the first moment and the second moment is within a preset time difference range;

[0101] If so, determine the first moment / the second moment as the moment when the inner detector is directly below the calibration box.

[0102] In an ideal situation, the first moment should be the same as the second moment, and the first moment and the second moment are the moments when the inner detector passes directly below the calibration box. However, in actual applications, due to the influence of environmental noise, there is a time difference between the first moment and the second moment. Therefore, in the embodiments of this specification, when the time difference between the first moment and the second moment is within the preset time difference range, it is determined that one of the first moment or the second moment is the moment when the inner detector passes directly below the calibration box.

[0103] As Figure 5 shown in the schematic diagram of the first induction signal and the second induction signal, by determining the first moment t1 when the amplitude of the first induction signal is the maximum and the moment t2 when the amplitude of the second induction signal is the minimum, the moment when the inner detector is directly below the calibration box can be obtained.

[0104] Further, an inner detector positioning system provided by an embodiment of this specification, wherein the calibration box further includes an alarm module;

[0105] When the first frequency domain signal and / or the second frequency domain signal includes a preset frequency signal, the method further includes:

[0106] Controlling the alarm module to work and prompting technicians through a preset alarm channel, and the preset alarm channel at least includes one or a combination of more of text messages, emails, applets, official accounts, voice broadcasts, warning lights.

[0107] Specifically, the discrete IO pins of the single-chip microcomputer are connected to alarm devices such as warning lights and buzzers. When the alarm module works, it triggers devices such as warning lights and buzzers to alarm.

[0108] Further, the calibration box further includes a Beidou module / GPS module; the Beidou module is connected to the serial port 1 of the single-chip microcomputer (as Figure 3 shown), or the GPS module is connected to the serial port 1 of the single-chip microcomputer; the Beidou module / GPS module is used to provide high-precision positioning services to determine the location of the calibration box and send the location of the calibration box to the server, so as to realize the position positioning and map display of the inner detector.

[0109] Before collecting the first induction signal and the second induction signal, the method further includes:

[0110] Using the Beidou module / GPS module to calibrate the position and time of the calibration box.

[0111] Furthermore, the calibration box further includes a housing;

[0112] The first coil, the second coil, and the single-chip microcomputer are arranged inside the housing;

[0113] A portable handle 23 is further arranged on the housing, and the portable handle 23 can be used to move the calibration box 20.

[0114] Further, the method further includes:

[0115] Obtaining the moments when the internal detector passes directly below each of the calibration boxes arranged along the pipeline;

[0116] According to the speed at which the internal detector travels and detects in the pipeline, the distance between adjacent two calibration boxes, and the moments when the internal detector passes directly below each of the calibration boxes arranged along the pipeline, determining whether the internal detector is stuck in the pipeline;

[0117] If so, select the calibration box corresponding to the nearest moment as the target calibration box, and use the portable handle to drive the target calibration box to move along the pipeline until the first frequency domain signal and the second frequency domain signal respectively obtained by performing fast Fourier transform on the first induction signal generated by the first coil and the second induction signal generated by the second coil in the target calibration box include a preset frequency signal, and the amplitude of the first induction signal is the maximum value and the amplitude of the second induction signal is the minimum value, to determine that the internal detector is located directly below the position where the target calibration box is located.

[0118] Exemplarily, if N calibration boxes are arranged along the direction of the pipeline, and the moments when the internal detector passes directly below each calibration box are respectively recorded as T1, T2,..., TN.

[0119] If it is obtained that none of T1 to TN is empty, it is determined that the internal detector is traveling normally in the pipeline and is not stuck.

[0120] If it is obtained that T1 to Ti-1 are not empty and T1 to TN are empty, it is determined that the internal detector is in the process of moving from the position corresponding to the (i-1)-th calibration box in the pipeline to the position corresponding to the i-th calibration box. Then, according to the length of the pipeline between the (i-1)-th calibration box and the i-th calibration box and the moving speed of the internal detector, the time required for the internal detector to move from the position corresponding to the (i-1)-th calibration box in the pipeline to the position corresponding to the i-th calibration box is calculated. According to the required time and the moment Ti-1 when the internal detector passes directly below the (i-1)-th calibration box, it is determined whether the internal detector is stuck in the pipeline. If the internal detector is stuck between the (i-1)-th calibration box and the i-th calibration box in the pipeline, at this time, since the moment Ti-1 when the internal detector passes through the (i-1)-th calibration box has been determined, it can be ensured that the (i-1)-th calibration box is in a normal working state. Therefore, preferably, the (i-1)-th calibration box is used as the target calibration box to locate and search for the internal detector. Use the portable handle to move the (i-1)-th calibration box along the direction of the pipeline. When the frequency domain signals corresponding to the first induction signal and the second induction signal generated by the first coil and the second coil in the (i-1)-th calibration box include 23 Hz, it is determined that the internal detector is within the induction range of the target calibration box; further move the (i-1)-th calibration box in a small range, and determine the position of the (i-1)-th calibration box when the first induction signal and the second induction signal reach the maximum amplitude and the minimum amplitude respectively. The position directly below this position is the position where the internal detector is stuck.

[0121] In some other feasible embodiments, if Tj is empty while both Tj-1 and Tj+1 are not empty, it is possible that the j-th calibration box fails. That is, in the embodiments of this specification, by analyzing the moments when the internal detector passes directly below each calibration box, not only can the running condition of the internal detector in the pipeline be judged, but also it can be used to determine whether the calibration box is in a normal working state.

[0122] Based on the above-mentioned method for positioning an internal detector in a pipeline, the embodiments of this specification also correspondingly provide a device for positioning an internal detector in a pipeline. The device may include a system (including a distributed system), software (application), module, component, server, client, etc. that use the method described in the embodiments of this specification and are combined with the necessary implementation hardware. Based on the same innovative concept, the devices in one or more embodiments provided in the embodiments of this specification are as described in the following embodiments. Since the implementation solutions for the device to solve problems are similar to the method, the implementation of the specific device in the embodiments of this specification can refer to the implementation of the foregoing method, and the repeated parts will not be described again. Hereinafter, the term "unit" or "module" may be a combination of software and / or hardware that can implement a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0123] As shown Figure 6 in the figure, an in-pipe detector positioning device according to an embodiment of this specification, the device includes:

[0124] An acquisition module 61, configured to acquire a first induction signal generated by the first coil and a second induction signal generated by the second coil;

[0125] A Fourier transform module 62, configured to respectively perform fast Fourier transform on the first induction signal and the second induction signal to obtain a first frequency domain signal and a second frequency domain signal;

[0126] A judgment module 63, configured to judge whether a preset frequency signal is included in the first frequency domain signal and / or the second frequency domain signal;

[0127] A determination and upload module 64, configured to, if so, determine that the in-pipe detector is within a preset range of the calibration box, and upload the first induction signal and the second induction signal to a server, so that the server determines the time when the in-pipe detector is directly below the calibration box according to the first induction signal and the second induction signal.

[0128] The beneficial effects achieved by the device provided in the embodiments of this specification are consistent with the beneficial effects achieved by the above method, and will not be elaborated here.

[0129] As shown Figure 7 in the figure, a computer device provided by an embodiment of this specification. The in-pipe detector positioning device in this specification may be the computer device in this embodiment, and execute the above method of this specification. The computer device 702 may include one or more processors 704, such as one or more central processing units (CPUs), and each processing unit may implement one or more hardware threads. The computer device 702 may also include any memory 706, which is used to store any kind of information such as code, settings, data, etc. Non-limiting, for example, the memory 706 may include any one or more combinations of the following: any type of RAM, any type of ROM, flash memory devices, hard disks, optical discs, etc. More generally, any memory may use any technology to store information. Further, any memory may provide volatile or non-volatile retention of information. Further, any memory may represent a fixed or removable component of the computer device 702. In one case, when the processor 704 executes the associated instructions stored in any memory or combination of memories, the computer device 702 may perform any operation of the associated instructions. The computer device 702 also includes one or more drive mechanisms 708 for interacting with any memory, such as a hard disk drive mechanism, an optical disc drive mechanism, etc.

[0130] The computer device 702 may also include an input / output module 710 (I / O) for receiving various inputs (via the input device 712) and for providing various outputs (via the output device 714). A specific output mechanism may include a presentation device 716 and an associated graphical user interface (GUI) 718. In other embodiments, the input / output module 710 (I / O), the input device 712, and the output device 714 may not be included, and it may only be a computer device in the network. The computer device 702 may also include one or more network interfaces 720 for exchanging data with other devices via one or more communication links 722. One or more communication buses 724 couple the components described above together.

[0131] The communication link 722 may be implemented in any way, for example, through a local area network, a wide area network (e.g., the Internet), a point-to-point connection, etc., or any combination thereof. The communication link 722 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc. governed by any protocol or combination of protocols.

[0132] Corresponding to the method as Figure 1 and Figure 4 shown, an embodiment of this specification also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is run by a processor, it executes the steps of the above method.

[0133] An embodiment of this specification also provides a computer-readable instruction, wherein when the processor executes the instruction, the program therein causes the processor to execute as Figure 1 and Figure 4 shown in the method.

[0134] An embodiment of this specification also provides a computer program product including at least one instruction or at least one segment of a program, and the at least one instruction or the at least one segment of the program is loaded and executed by a processor to implement the method as Figure 1 and Figure 4 shown.

[0135] It should be understood that in various embodiments of this specification, the magnitudes of the sequence numbers of the above processes do not mean the order of execution is prior or posterior. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this specification.

[0136] It should also be understood that in the embodiments of this specification, the term "and / or" is merely a correlative relationship describing associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. Additionally, in this specification, the character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0137] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this specification can be implemented by electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this specification.

[0138] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0139] In several embodiments provided in this specification, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Additionally, the displayed or discussed coupling or direct coupling or communication connection to each other can be an indirect coupling or communication connection through some interfaces, devices, or units, and can also be in the form of electrical, mechanical, or other connections.

[0140] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments of this specification.

[0141] In addition, the functional units in each embodiment of this specification can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0142] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of this specification, in essence, or the part that contributes to the prior art, or all or part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this specification. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0143] Specific embodiments are used in this specification to elaborate on the principles and implementation manners of this specification. The description of the above embodiments is only used to help understand the method and its core idea of this specification; at the same time, for those of ordinary skill in the art, according to the idea of this specification, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to this specification.

Claims

1. A method for positioning an in-pipe detector, characterized in that, The method is applied to an in-line detector positioning system, which includes an in-line detector, at least one calibration box, and a server; The in-line detector operates inside the pipeline to be detected and detects the inside of the pipeline. A transmitter is provided on the in-line detector, and the transmitter is used to transmit a low-frequency signal; At least one of the calibration boxes is sequentially arranged on the ground above the pipeline at a preset interval along the direction of the pipeline. A first coil, a second coil, and a single-chip microcomputer are arranged in the calibration box. The first coil is arranged along the direction of the pipeline, and the second coil is arranged perpendicular to the direction of the pipeline. Both the first coil and the second coil are used to generate induction signals under the action of the low-frequency signal, and the single-chip microcomputer is connected to the first coil and the second coil; The server is connected to the calibration box; The method includes: The single-chip microcomputer collects a first induction signal generated by the first coil and a second induction signal generated by the second coil; The first induction signal and the second induction signal are respectively subjected to fast Fourier transform to obtain a first frequency-domain signal and a second frequency-domain signal; Judge whether a preset frequency signal is included in the first frequency-domain signal and / or the second frequency-domain signal; If so, it is determined that the in-line detector is within the induction range of the calibration box, and the first induction signal and the second induction signal are uploaded to the server, so that the server determines the moment when the in-line detector is directly below the calibration box according to the first induction signal and the second induction signal.

2. The method according to claim 1, wherein Determining the moment when the in-line detector is directly below the calibration box according to the first induction signal and the second induction signal further includes: Determining a first moment when the amplitude of the first induction signal reaches the maximum value; Determining a second moment when the amplitude of the second induction signal reaches the minimum value; According to the first moment and the second moment, determining the moment when the in-line detector is directly below the calibration box.

3. The method according to claim 2, wherein Determining the moment when the in-line detector is directly below the calibration box according to the first moment and the second moment further includes: Judging whether the time difference between the first moment and the second moment is within a preset time difference range; If so, determining the first moment / the second moment as the moment when the in-line detector is directly below the calibration box.

4. The method according to claim 1, wherein The calibration box further includes an alarm module; When a preset frequency signal is included in the first frequency-domain signal and / or the second frequency-domain signal, the method further includes: Controlling the alarm module to work and prompting technicians through a preset alarm channel, and the preset alarm channel at least includes one or a combination of text messages, emails, mini-programs, official accounts, voice broadcasts, warning lights, etc.

5. The method according to claim 1, characterized in that The calibration box further includes a Beidou module / GPS module; Before collecting the first induction signal and the second induction signal, the method further includes: Calibrating the position and time of the calibration box by using the Beidou module / GPS module.

6. The method according to claim 1, wherein The calibration box further includes a housing; The first coil, the second coil, and the single-chip microcomputer are arranged inside the housing; A portable handle is further provided on the outer shell, and the portable handle is used to move the calibration box.

7. The method according to claim 6, wherein The method further includes: obtaining the moments when the internal detector passes directly below each of the calibration boxes arranged along the pipeline; judging whether the internal detector is stuck in the pipeline according to the speed of the internal detector traveling and detecting in the pipeline, the distance between two adjacent calibration boxes, and the moments when the internal detector passes directly below each of the calibration boxes arranged along the pipeline; if so, selecting the calibration box corresponding to the nearest moment as the target calibration box, and driving the target calibration box to move along the pipeline by using the portable handle until the first frequency domain signal and the second frequency domain signal obtained by respectively performing fast Fourier transform on the first induction signal generated by the first coil and the second induction signal generated by the second coil include a preset frequency signal, and the amplitude of the first induction signal is the maximum value and the amplitude of the second induction signal is the minimum value, so as to determine that the internal detector is directly below the position where the target calibration box is located.

8. A pipeline internal detector positioning device, characterized in that The device includes: an acquisition module, configured to acquire a first induction signal generated by a first coil and a second induction signal generated by a second coil; a Fourier transform module, configured to respectively perform fast Fourier transform on the first induction signal and the second induction signal to obtain a first frequency domain signal and a second frequency domain signal; a judgment module, configured to judge whether a preset frequency signal is included in the first frequency domain signal and / or the second frequency domain signal; a determination and upload module, configured to, if so, determine that the internal detector is within a preset range of the calibration box, and upload the first induction signal and the second induction signal to a server, so that the server determines the moment when the internal detector is directly below the calibration box according to the first induction signal and the second induction signal.

9. A computer device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

11. A computer program product, characterized in that, including at least one instruction or at least one segment of program, and the at least one instruction or the at least one segment of program is loaded and executed by a processor to implement the method according to any one of claims 1 to 7.

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