Pipeline detection method, device, equipment, medium and program

Abstract

The invention discloses a pipeline detection method, device and equipment, a medium and a program. Pipeline detection equipment is arranged in a pipeline, the pipeline detection equipment comprises an odometer wheel, a first acquisition device, a second acquisition device and a detector, and the method is executed by the detector and comprises the following steps: respectively acquiring a first pulse signal and a second pulse signal corresponding to the odometer wheel through the first acquisition device and the second acquisition device; according to the first pulse signal and the second pulse signal, respectively determining a corresponding first speed value and a second speed value; if the first speed value and the second speed value meet a preset condition, determining a current fusion speed value according to a historical fusion speed value, the first speed value and the second speed value; and detecting the pipeline based on the current fusion speed value. According to the technical scheme, high-precision speed measurement and calculation can be achieved in a complex environment, and therefore the stable detection requirement of the pipeline is met.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, and in particular to a pipeline inspection method, apparatus, equipment, medium, and procedure. Background Technology

[0002] Pipeline detectors built into pipelines are key devices for detecting pipeline defects such as internal corrosion, cracks, and deformation. Fluctuations in their operating speed can affect the validity of the data from the detection sensors. Therefore, accurately determining the operating speed of the pipeline detector is crucial for ensuring stable detection.

[0003] Currently, existing technologies typically use a single encoder to collect odometer wheel signals to determine the measurement speed of the pipeline detector, and then control the pipeline inspection based on this measurement speed. However, the accuracy of speed measurement by a single encoder is low in complex pipeline environments (such as high pressure, high temperature, strong electromagnetic interference, and odometer wheel wear), and it cannot meet the requirements for stable pipeline inspection.

[0004] Therefore, there is an urgent need for a pipeline inspection method that can provide high-precision speed measurement. Summary of the Invention

[0005] This invention provides a pipeline inspection method, apparatus, equipment, medium, and program that can achieve high-precision speed calculation in complex environments, thereby meeting the requirements for stable pipeline inspection.

[0006] According to a first aspect of the present invention, a pipeline inspection method is provided, wherein the pipeline has a built-in pipeline inspection device, the pipeline inspection device including a mileage wheel, a first data acquisition device, a second data acquisition device, and a detector, the method being performed by the detector, comprising: The first acquisition device and the second acquisition device respectively acquire the first pulse signal and the second pulse signal corresponding to the mileage wheel; Based on the first pulse signal and the second pulse signal, the corresponding first speed value and second speed value are determined respectively; If the first speed value and the second speed value meet the preset conditions, then the current fusion speed value is determined based on the historical fusion speed value, the first speed value, and the second speed value; The pipeline is inspected based on the current fusion speed value.

[0007] According to a second aspect of the present invention, a pipeline inspection device is provided, wherein the pipeline has a built-in pipeline inspection equipment, the pipeline inspection equipment including a mileage wheel, a first data acquisition device, a second data acquisition device, and a detector, the device being deployed in the detector, comprising: The acquisition module is used to acquire, through the first acquisition device and the second acquisition device, a first pulse signal and a second pulse signal corresponding to the odometer wheel, respectively. The first determining module is used to determine the corresponding first speed value and second speed value based on the first pulse signal and the second pulse signal, respectively. The second determining module is used to determine the current fusion speed value based on the historical fusion speed value, the first speed value, and the second speed value if the first speed value and the second speed value meet a preset condition; The detection module is used to detect the pipeline based on the current fusion speed value.

[0008] According to a third aspect of the present invention, a pipeline inspection device is provided, the pipeline inspection device comprising: The device includes a mileage wheel, a first data acquisition device, a second data acquisition device, a detector, and a memory communicatively connected to the detector; wherein the memory stores a computer program executable by the detector, the computer program being executed by the detector to enable the detector to perform the pipeline inspection method according to any embodiment of the present invention.

[0009] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a detector to perform the pipe detection method according to any embodiment of the present invention.

[0010] According to a fifth aspect of the present invention, a computer program product is provided, the computer program product comprising a computer program that, when executed by a detector, implements the pipeline detection method according to any embodiment of the present invention.

[0011] The technical solution of the present invention can acquire a first pulse signal and a second pulse signal corresponding to the mileage wheel through the first acquisition device and the second acquisition device, respectively, and determine the corresponding first speed value and second speed value according to the first pulse signal and the second pulse signal, respectively. If the first speed value and the second speed value meet the preset conditions, the current fusion speed value is determined according to the historical fusion speed value, the first speed value and the second speed value. Finally, the pipeline is detected based on the current fusion speed value. This can achieve high-precision speed measurement in complex environments, thereby meeting the stable detection requirements of the pipeline.

[0012] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a flowchart of a pipeline inspection method provided according to Embodiment 1 of the present invention; Figure 2 This is a flowchart of a pipeline inspection method provided according to Embodiment 2 of the present invention; Figure 3 This is a schematic diagram of the structure of a pipeline inspection device according to Embodiment 3 of the present invention; Figure 4 This is a schematic diagram of the structure of a pipeline inspection device that implements the pipeline inspection method of this invention. Detailed Implementation

[0015] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0016] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0017] Example 1 Figure 1This is a flowchart of a pipeline inspection method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where pipeline safety inspection is performed based on pipeline inspection equipment built into the pipeline. The pipeline inspection equipment may include: a mileage wheel, a first data acquisition device, a second data acquisition device, and a detector. The pipeline inspection method can be executed by the pipeline inspection device, which can be implemented in hardware and / or software and can be deployed within the detector of the pipeline inspection equipment. Figure 1 As shown, the method includes: S101. The first acquisition device and the second acquisition device respectively acquire the first pulse signal and the second pulse signal corresponding to the mileage wheel.

[0018] The first and second acquisition devices can be respectively installed at different positions on the odometer wheel to acquire the pulse signals corresponding to the rotation of the odometer wheel as it moves and rotates within the pipe along with the pipe detector. It is understood that the odometer wheel is in contact with the inner wall of the pipe and can rotate as the pipe detector moves, with a definite correspondence between its rotational speed and the operating speed of the pipe detector.

[0019] The first pulse signal can be the pulse signal corresponding to the rotation of the odometer wheel, acquired by the first acquisition device at its preset position. The second pulse signal can be the pulse signal corresponding to the rotation of the odometer wheel, acquired by the second acquisition device at its preset position.

[0020] It should be noted that the first acquisition device and the second acquisition device can be different types of sensing devices. For example, the first acquisition device can be a magnetoresistive magnetic encoder, while the second acquisition device can be a Hall switch sensor.

[0021] For example, in this embodiment, a first acquisition device, such as a magnetoresistive magnetic encoder, can sense the change in the magnetic field of a permanent magnet set in the odometer wheel within a preset sampling period to generate a first pulse signal. At the same time, a second acquisition device, such as a Hall switch sensor, can sense the alternating magnetic and non-magnetic sections on the odometer wheel within a preset sampling period to generate a second pulse signal.

[0022] S102. Determine the corresponding first speed value and second speed value based on the first pulse signal and the second pulse signal, respectively.

[0023] The first speed value and the second speed value can respectively represent the instantaneous operating speed of the pipeline detector calculated based on the first pulse signal and the second pulse signal.

[0024] For example, after determining the first pulse signal and the second pulse signal of the mileage wheel, the first pulse signal and the second pulse signal can be converted into a first speed value and a second speed value that can reflect the operating speed of the pipeline detector, respectively, based on the number of pulses of the first pulse signal and the second pulse signal within a preset sampling period, the circumference of the mileage wheel, and the number of pulses collected by the first acquisition device and the second acquisition device for each rotation of the mileage wheel.

[0025] S103. If the first speed value and the second speed value meet the preset conditions, then determine the current fusion speed value based on the historical fusion speed value, the first speed value and the second speed value.

[0026] The preset conditions can be used to determine whether the first speed value and the second speed value are valid, thus avoiding speed calculation errors caused by interference or malfunction of a single sensor. For example, the preset conditions can be set to ensure that the difference between the first speed value and the second speed value is within a preset range.

[0027] The historical fusion rate value can be the fusion rate value determined in the previous sampling period that is close to the current sampling period. The current fusion rate value can be the rate value finally output in the current sampling period, which can be used as a basis for controlling the operating speed of pipeline inspection equipment.

[0028] It should be noted that after determining the fusion speed value in each sampling period, it can be stored in a preset storage location for later retrieval. In the initial sampling period, when determining the fusion speed value corresponding to the initial sampling period, the average of the first speed value and the second speed value determined in the initial sampling period can be set as the historical fusion speed value.

[0029] For example, in this embodiment, it can first be determined whether the first speed value and the second speed value meet a preset condition. If the condition is met, it can be indicated that the data of the first speed value and the second speed value are valid and have good consistency.

[0030] Then, the historical fusion velocity value corresponding to the previous sampling period adjacent to the current sampling period can be obtained from a preset storage location, and the fusion weights corresponding to the first and second velocity values ​​in the current sampling period can be determined based on the historical fusion velocity values. For example, the weights for velocity fusion in the previous sampling period can be determined based on the historical fusion velocity values ​​as the fusion weights corresponding to the first and second velocity values ​​in the current sampling period; or, a correspondence between the fusion weights and the magnitudes of historical fusion velocity values ​​can be preset, so that when obtaining historical fusion velocity values, the fusion weights corresponding to the historical fusion velocity values ​​can be determined as the fusion weights corresponding to the first and second velocity values ​​in the current sampling period.

[0031] Finally, the first and second speed values ​​can be fused using the fusion weights corresponding to the first and second speed values ​​in the current sampling period to determine the current fused speed value.

[0032] S104. Detect the pipeline based on the current fusion speed value.

[0033] For example, after determining the current fusion speed value under the current sampling period, the detector in the pipeline inspection equipment can use the high-precision current fusion speed value as the control basis for pipeline inspection, which can ensure that the detector can still stably inspect the pipeline in complex environments.

[0034] The technical solution of this embodiment can acquire a first pulse signal and a second pulse signal corresponding to the mileage wheel through the first acquisition device and the second acquisition device, respectively. Based on the first pulse signal and the second pulse signal, the corresponding first speed value and second speed value are determined respectively. If the first speed value and the second speed value meet the preset conditions, the current fusion speed value is determined based on the historical fusion speed value, the first speed value and the second speed value. Finally, the pipeline is detected based on the current fusion speed value. This can achieve high-precision speed calculation in complex environments, thereby meeting the stable detection requirements of the pipeline.

[0035] Example 2 Figure 2 This is a flowchart of a pipeline inspection method provided in Embodiment 2 of the present invention. This embodiment can further improve and explain the above embodiment. In this embodiment, the first acquisition device can be specifically used to detect the axial rotation of the odometer wheel, and the second acquisition device can be specifically used to detect the radial rotation of the odometer wheel. Figure 2 As shown, the method includes: S201. According to the preset sampling period, the pulse signal corresponding to the axial rotation of the odometer wheel is collected by the first acquisition device as the first pulse signal, and the pulse signal corresponding to the radial rotation of the odometer wheel is collected by the second acquisition device as the second pulse signal.

[0036] The preset sampling period can be a pre-defined sampling time length. Axial rotation can be the rotational motion of the odometer wheel around its axis. Radial rotation can be the rotational motion of the odometer wheel body in the circumferential direction.

[0037] It should be noted that the first acquisition device can be installed at the axle end of the odometer wheel, arranged coaxially with the odometer wheel, and is used to acquire pulse signals corresponding to axial rotation. The second acquisition device can be installed on the radially outer side of the odometer wheel, arranged non-contactly with the odometer wheel, and is used to acquire pulse signals corresponding to radial rotation.

[0038] For example, the first acquisition device can be a magnetoresistive magnetic encoder, which, in conjunction with a permanent magnet embedded in the end of the odometer wheel shaft, outputs a fixed number of quadrature pulse signals each time the odometer wheel rotates once. The second acquisition device can be a Hall effect switch sensor, which, in conjunction with alternating magnetic and non-magnetic sections on the odometer wheel body, outputs a switching pulse signal corresponding to the number of magnetic sections each time the odometer wheel rotates once.

[0039] The two acquisition devices can synchronously acquire signals according to the same preset sampling period, thereby obtaining a first pulse signal corresponding to the axial rotation of the odometer wheel and a second pulse signal corresponding to the radial rotation of the odometer wheel.

[0040] S202. Determine the number of first pulses of the first pulse signal and the number of second pulses of the second pulse signal within the preset sampling period.

[0041] The first pulse count can be the number of valid pulses output by the first acquisition device within the current preset sampling period. The second pulse count can be the number of valid pulses output by the second acquisition device within the current preset sampling period.

[0042] For example, for the quadrature pulse signal output by the first acquisition device, the number of valid pulses within a preset sampling period can be counted by decoding the pulse edges, and this number can be used as the first pulse count. Similarly, for the switch pulse signal output by the second acquisition device, the number of high-level or low-level pulses within a preset sampling period can be counted by detecting level transitions, and this number can be used as the second pulse count.

[0043] S203. Calculate the first speed value based on the circumference of the odometer wheel, the number of unit pulses of the odometer wheel rotating in the axial direction, the number of first pulses, and the preset sampling period.

[0044] The circumference of the odometer wheel can be a known physical parameter, which can be obtained by initially measuring the odometer wheel.

[0045] The number of pulses per unit rotation of the odometer wheel can be the number of pulses output by the first acquisition device for each revolution of the odometer wheel. It is understandable that the number of pulses per unit rotation of the odometer wheel can be determined by the physical structure or configuration parameters of the first acquisition device itself.

[0046] For example, the first speed value can be calculated based on the circumference of the odometer wheel, the number of pulses per unit rotation of the odometer wheel in the axial direction, the number of the first pulses, and the preset sampling period. ; Where V1 can represent the first speed value; L can represent the circumference of the mileage wheel; and T can represent the preset sampling period. It can represent the number of the first pulses within the sampling period T; It can represent the number of pulses per unit rotation of the odometer wheel in the axial direction.

[0047] It should be noted that in this embodiment, the number of first pulses can be divided by the number of unit pulses for axial rotation to obtain the number of rotations of the odometer wheel within a preset sampling period. Then, multiplying the number of rotations by the circumference of the odometer wheel yields the theoretical distance traveled by the odometer wheel within the preset sampling period. Finally, dividing this distance by the preset sampling period gives the first speed value calculated based on the axial rotation signal. The first speed value reflects the average operating speed of the pipeline detector within the preset sampling period.

[0048] S204. Calculate the second speed value based on the circumference of the odometer wheel, the number of unit pulses of the odometer wheel in radial rotation, the number of second pulses, and the preset sampling period.

[0049] The number of pulses per unit rotation of the odometer wheel in the radial direction can be the number of pulses output by the second acquisition device per revolution of the odometer wheel. It should be noted that the number of pulses per unit rotation of the odometer wheel in the radial direction can be determined by the number of magnetic sections on the wheel body.

[0050] For example, the second speed value can be calculated based on the circumference of the odometer wheel, the number of pulses per unit rotation of the odometer wheel in the radial direction, the number of second pulses, and a preset sampling period. ; Where V2 can represent the second speed value; L can represent the circumference of the odometer wheel; and T can represent the preset sampling period. This can represent the number of second pulses within the sampling period T; It can represent the number of pulses per unit of radial rotation of the odometer wheel.

[0051] It should be noted that in this embodiment, the number of second pulses can be divided by the number of unit pulses for radial rotation to obtain the number of rotations of the odometer wheel within a preset sampling period. Then, the number of rotations is multiplied by the circumference of the odometer wheel to obtain the theoretical distance traveled by the odometer wheel within the preset sampling period. Finally, this distance is divided by the preset sampling period to obtain the second speed value calculated based on the radial rotation signal. The second speed value can also reflect the average operating speed of the pipeline detector within the preset sampling period, but its signal source is independent of the first speed value.

[0052] S205. Determine whether the absolute value of the difference between the first speed value and the second speed value meets the preset first threshold range.

[0053] The preset first threshold range can be used to determine the consistency between the first velocity value and the second velocity value. The first threshold range can be preset according to the actual application scenario of pipeline inspection.

[0054] Understandably, when the deviation between the two is small, it indicates a strong consistency between the first and second speed values, and they can be determined to be both valid. When the deviation is large, it indicates that at least one set of speed data between the first and second speed values ​​has been interfered with or is abnormal, and the data can be determined to be invalid.

[0055] For example, the absolute value of the difference between the first speed value and the second speed value can be calculated, and this absolute value can be compared with a preset first threshold range. If the absolute value is within the preset first threshold range, the condition is determined to be met. Otherwise, the condition is determined not to be met.

[0056] S206. If satisfied, obtain the historical fusion speed value corresponding to the previous sampling period, and determine the target speed range based on the historical fusion speed value.

[0057] The target velocity range can be used to represent the velocity range of the detector at the beginning of the current sampling period.

[0058] For example, after determining that the first speed value and the second speed value meet the consistency condition, the historical fusion speed value can be obtained from the preset storage location, and the historical fusion speed value can be compared with the preset speed interval division threshold to determine the speed interval to which it belongs, and used as the target speed interval for the current sampling period.

[0059] Understandably, the speed range can be pre-defined based on the actual operating range of the pipeline detector, such as dividing it into low-speed and high-speed ranges.

[0060] S207. Based on the target speed range, determine the first fusion weight corresponding to the first speed value and the second fusion weight corresponding to the second speed value.

[0061] It should be noted that the existing technology, which uses a single incremental encoder to collect odometer wheel signals to determine the measured speed of the pipeline detector, suffers from several drawbacks. In low-speed operation, the low odometer wheel rotation speed leads to sparse encoder pulse signals, resulting in larger speed calculation errors and failing to provide accurate data for low-speed control. Furthermore, in high-speed operation, the encoder is susceptible to interference, experiencing pulse loss and further amplifying the error, making it difficult to meet industry accuracy standards for defect location. Therefore, there is a limitation in achieving high-precision measurement across the entire speed range.

[0062] To meet the high-precision measurement requirements across the entire speed range, this implementation can set different fusion strategies for different speed ranges.

[0063] Here, the first fusion weight and the second fusion weight can represent the proportions of the first speed value and the second speed value in the fusion calculation, respectively. It should be noted that the reliability and accuracy of the first speed value and the second speed value will differ in different speed ranges. Therefore, different weights can be assigned to adapt to speed fusion calculations in different speed ranges.

[0064] For example, a first fusion weight corresponding to a first speed value and a second fusion weight corresponding to a second speed value can be pre-set for each speed range, and their correspondence can be stored in a preset storage location. Thus, after determining the target speed range, the first fusion weight corresponding to the first speed value and the second fusion weight corresponding to the second speed value can be directly determined.

[0065] Optionally, determining the first fusion weight corresponding to the first speed value and the second fusion weight corresponding to the second speed value based on the target speed range may include: If the target speed range is in the low speed range, then the preset first weight and second weight are used as the first fusion weight and the second fusion weight, respectively; the first weight is less than the second weight. If the target speed range is in the high-speed range, and the absolute value of the difference between the first speed value and the second speed value meets the preset second threshold range, then the preset third weight and fourth weight are respectively used as the first fusion weight and the second fusion weight; the third weight is greater than the fourth weight. If the target speed range is in the high-speed range, and the absolute value of the difference between the first speed value and the second speed value does not meet the preset second threshold range, then the first fusion weight is determined to be 0 and the second fusion weight is determined to be 1.

[0066] It should be noted that, since the radial rotation signal (corresponding to the second velocity value) typically exhibits higher pulse density and stability under low-speed conditions, when the target velocity range is low, such as when the historical fusion velocity value is less than or equal to 1 m / s, a larger second weight can be assigned to the second velocity value, and a smaller first weight to the first velocity value. For example, setting the first weight to 0.4 and the second weight to 0.6 means that the current fusion velocity value = 0.4 × first velocity value + 0.6 × second velocity value, thus fully leveraging the accuracy advantage of the second velocity value in the low-speed range.

[0067] If the target speed range is a high-speed range, for example, when the historical fused speed value is greater than 1 m / s, the weight allocation can be further determined by considering the deviation between the first and second speed values. When the absolute value of the difference between the first and second speed values ​​meets the preset second threshold range (taking the first threshold range as less than 3% as an example, the second threshold range can be greater than 2% and less than 3%), it indicates that there is a certain deviation between the two sets of speed data, but it is still within an acceptable range. At this time, the first acquisition device has a higher response speed and accuracy in the high-speed range, and a larger third weight can be assigned to the first speed value, and a smaller fourth weight can be assigned to the second speed value. For example, setting the third weight to 0.7 and the fourth weight to 0.3 means that the current fused speed value = 0.7 × first speed value + 0.3 × second speed value.

[0068] When the absolute value of the difference between the first speed value and the second speed value does not meet the preset second threshold range (e.g., less than or equal to 2%), it can be indicated that the two sets of speed data are in good consistency and that each set of data is not affected by the environment. At this time, the second speed value can be directly used as the fused speed value, that is, the first fusion weight is determined to be 0 and the second fusion weight is determined to be 1.

[0069] S208. Based on the first fusion weight and the second fusion weight, the first speed value and the second speed value are fused to obtain the current fused speed value.

[0070] For example, the first velocity value and the second velocity value can be weighted and summed according to the determined first fusion weight and second fusion weight to obtain the current fusion velocity value. After obtaining the current fusion velocity value, it can also be stored in a preset storage location as the historical fusion velocity value for the next sampling period.

[0071] S209. Detect the pipeline based on the current fusion speed value.

[0072] The technical solution of this embodiment can collect pulse signals corresponding to the axial rotation of the odometer wheel through a first acquisition device according to a preset sampling period, as the first pulse signal, and collect pulse signals corresponding to the radial rotation of the odometer wheel through a second acquisition device, as the second pulse signal. Then, the number of first pulses of the first pulse signal and the number of second pulses of the second pulse signal within the preset sampling period are determined. Thus, based on the circumference of the odometer wheel, the number of unit pulses of the odometer wheel in axial rotation, the number of first pulses, and the preset sampling period, a first speed value is calculated, and a second speed value is calculated based on the circumference of the odometer wheel, the number of unit pulses of the odometer wheel in axial rotation, the number of second pulses, and the preset sampling period. Furthermore, it is determined whether the absolute value of the difference between the first speed value and the second speed value meets the preset first threshold range. If it does, the historical fused speed value corresponding to the previous sampling period is obtained, and the target speed range is determined based on the historical fused speed value. Based on the target speed range, the first fusion weight corresponding to the first speed value and the second fusion weight corresponding to the second speed value are determined. Finally, based on the first fusion weight and the second fusion weight, the first speed value and the second speed value are fused to obtain the current fused speed value. The pipeline is then inspected based on the current fused speed value. This effectively solves the problem of sparse pulses in the low-speed range and susceptibility to interference in the high-speed range of a single sensor, further improving the speed measurement accuracy across the entire speed range and providing a more reliable speed control basis for pipeline inspection.

[0073] Based on the above embodiments, the present invention also provides an optional embodiment, which further clarifies the situation where the absolute value of the difference between the first speed value and the second speed value does not meet a preset first threshold range, specifically including: If the absolute value of the difference between the first speed value and the second speed value does not meet the preset first threshold range, then the first pulse signal and the second pulse signal are determined to be invalid signals, and the historical fusion speed value is determined as the current fusion speed value.

[0074] For example, if the absolute value of the difference between the first speed value and the second speed value does not meet the preset first threshold range, it indicates that there is a large difference between the first pulse signal and the second pulse signal collected in the current sampling period. In this case, it can be considered that the acquisition device may be affected by the harsh environment such as high pressure, high temperature or strong electromagnetic interference in the pipeline, resulting in signal distortion or loss.

[0075] In this case, to avoid the impact of velocity values ​​calculated based on abnormal data on pipeline detection, this optional embodiment can determine the first and second pulse signals acquired this time as invalid signals and discard them. Simultaneously, the historical fusion velocity value corresponding to the previous sampling period closest to the current sampling period can be obtained from a preset storage location and determined as the current fusion velocity value for the current sampling period.

[0076] The advantage of this setup is that it can maintain the continuity and stability of speed measurement when the signal is abnormal, avoid sudden changes in pipeline detection control due to data abnormalities, and thus ensure the smooth operation of the pipeline detection process.

[0077] Example 3 Figure 3 This is a schematic diagram of a pipeline inspection device according to Embodiment 3 of the present invention. The pipeline has a built-in pipeline inspection device, which may include a mileage wheel, a first data acquisition device, a second data acquisition device, and a detector. The pipeline inspection device can be deployed within the detector. Figure 3 As shown, the device may include: The acquisition module 31 can be used to acquire a first pulse signal and a second pulse signal corresponding to the mileage wheel through the first acquisition device and the second acquisition device, respectively. The first determining module 32 can be used to determine the corresponding first speed value and second speed value based on the first pulse signal and the second pulse signal, respectively. The second determining module 33 can be used to determine the current fusion speed value based on the historical fusion speed value, the first speed value, and the second speed value if the first speed value and the second speed value meet a preset condition; The detection module 34 can be used to detect the pipeline based on the current fusion speed value.

[0078] The technical solution of this embodiment can acquire a first pulse signal and a second pulse signal corresponding to the mileage wheel through the first acquisition device and the second acquisition device, respectively. Based on the first pulse signal and the second pulse signal, the corresponding first speed value and second speed value are determined respectively. If the first speed value and the second speed value meet the preset conditions, the current fusion speed value is determined based on the historical fusion speed value, the first speed value and the second speed value. Finally, the pipeline is detected based on the current fusion speed value. This can achieve high-precision speed calculation in complex environments, thereby meeting the stable detection requirements of the pipeline.

[0079] Optionally, the first acquisition device is used to detect the axial rotation of the odometer wheel; the second acquisition device is used to detect the radial rotation of the odometer wheel. Accordingly, the acquisition module 31 can be used to acquire, according to a preset sampling period, a pulse signal corresponding to the axial rotation of the odometer wheel through the first acquisition device as the first pulse signal, and to acquire, through the second acquisition device, a pulse signal corresponding to the radial rotation of the odometer wheel as the second pulse signal.

[0080] Optionally, the first determining module 32 is specifically used to determine the number of first pulses of the first pulse signal and the number of second pulses of the second pulse signal within the preset sampling period; The first speed value is calculated based on the circumference of the odometer wheel, the number of unit pulses of the odometer wheel rotating axially, the number of the first pulses, and the preset sampling period. The second speed value is calculated based on the circumference of the mileage wheel, the number of unit pulses of the mileage wheel rotating in the axial direction, the number of the second pulses, and the preset sampling period.

[0081] Optionally, the second determining module 33 may include: a judgment unit, an interval determining unit, a weight determining unit, and a fusion unit; The judgment unit can be used to determine whether the absolute value of the difference between the first speed value and the second speed value meets the preset first threshold range; The interval determination unit can be used to obtain the historical fusion speed value corresponding to the previous sampling period when the first threshold range is met, and determine the target speed interval based on the historical fusion speed value. The weight determination unit can be used to determine a first fusion weight corresponding to the first speed value and a second fusion weight corresponding to the second speed value based on the target speed range. The fusion unit can be used to fuse the first speed value and the second speed value based on the first fusion weight and the second fusion weight to obtain the current fused speed value.

[0082] Optionally, the weight determination unit can be specifically used to determine, if the target speed range is in the low speed range, a preset first weight and a preset second weight are used as the first fusion weight and the second fusion weight, respectively; the first weight is less than the second weight. If the target speed range is in the high-speed range, and the absolute value of the difference between the first speed value and the second speed value meets the preset second threshold range, then the preset third weight and fourth weight are respectively used as the first fusion weight and the second fusion weight; the third weight is greater than the fourth weight. If the target speed range is in the high-speed range, and the absolute value of the difference between the first speed value and the second speed value does not meet the preset second threshold range, then the first fusion weight is determined to be 0 and the second fusion weight is determined to be 1.

[0083] Optionally, the second determining module 33 may further include: an invalid determination unit; The invalidity determination unit is used to determine that the first pulse signal and the second pulse signal are invalid signals if the absolute value of the difference between the first speed value and the second speed value does not meet the preset first threshold range, and to determine the historical fusion speed value as the current fusion speed value.

[0084] The pipeline inspection device provided in this embodiment of the invention can execute the pipeline inspection method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0085] Example 4 Figure 4 A schematic diagram of a pipe inspection device 400 that can be used to implement embodiments of the present invention is shown. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0086] like Figure 4 As shown, the pipeline inspection device 400 includes a mileage wheel 401, a first acquisition device 402, a second acquisition device 403, a detector 404, and a memory, such as a read-only memory (ROM) 405 or a random access memory (RAM) 406, communicatively connected to the detector 404. The memory stores computer programs executable by the detector. The detector 404 can perform various appropriate actions and processes based on the computer program stored in the ROM 405 or loaded into the RAM 406 from storage unit 411. The RAM 406 can also store various programs and data required for the operation of the pipeline inspection device 400. The detector 404, ROM 405, and RAM 406 are interconnected via a bus 407. An input / output (I / O) interface 408 is also connected to the bus 407.

[0087] Multiple components in the pipeline inspection device 400 are connected to the I / O interface 408, including: an input unit 409; an output unit 410, such as various types of displays, speakers, etc.; a storage unit 411, such as a disk, optical disk, etc.; and a communication unit 412, such as a network card, modem, wireless transceiver, etc. The communication unit 412 allows the pipeline inspection device 400 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0088] Detector 404 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of detector 404 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Detector 404 performs the various methods and processes described above, such as pipeline detection methods.

[0089] In some embodiments, the pipe inspection method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 411. In some embodiments, part or all of the computer program may be loaded and / or installed on the pipe inspection device 400 via ROM 405 and / or communication unit 412. When the computer program is loaded into RAM 406 and executed by detector 404, one or more steps of the pipe inspection method described above may be performed. Alternatively, in other embodiments, detector 404 may be configured to perform the pipe inspection method by any other suitable means (e.g., by means of firmware).

[0090] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0091] Computer programs used to implement the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a detector of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the detector, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The computer programs can be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0092] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0093] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0094] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0095] In one embodiment, the present invention further includes a computer program product, which includes a computer program that, when executed by a detector, implements the pipeline detection method of any embodiment of the present invention.

[0096] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0097] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0098] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A pipeline inspection method, characterized in that, The pipeline has a built-in pipeline detection device, which includes a mileage wheel, a first data acquisition device, a second data acquisition device, and a detector. The method is executed by the detector and includes: The first acquisition device and the second acquisition device respectively acquire the first pulse signal and the second pulse signal corresponding to the mileage wheel; Based on the first pulse signal and the second pulse signal, the corresponding first speed value and second speed value are determined respectively; If the first speed value and the second speed value meet the preset conditions, then the current fusion speed value is determined based on the historical fusion speed value, the first speed value, and the second speed value; The pipeline is inspected based on the current fusion speed value.

2. The method according to claim 1, characterized in that, The first acquisition device is used to detect the axial rotation of the odometer wheel, and the second acquisition device is used to detect the radial rotation of the odometer wheel; The step of acquiring a first pulse signal and a second pulse signal corresponding to the odometer wheel through the first acquisition device and the second acquisition device respectively includes: According to a preset sampling period, the first acquisition device acquires a pulse signal corresponding to the axial rotation of the odometer wheel as the first pulse signal, and the second acquisition device acquires a pulse signal corresponding to the radial rotation of the odometer wheel as the second pulse signal.

3. The method according to claim 2, characterized in that, The step of determining the corresponding first velocity value and second velocity value based on the first pulse signal and the second pulse signal respectively includes: Determine the number of first pulses of the first pulse signal and the number of second pulses of the second pulse signal within the preset sampling period; The first speed value is calculated based on the circumference of the odometer wheel, the number of unit pulses of the odometer wheel rotating axially, the number of the first pulses, and the preset sampling period. The second speed value is calculated based on the circumference of the odometer wheel, the number of unit pulses of the odometer wheel in radial rotation, the number of the second pulses, and the preset sampling period.

4. The method according to claim 1, characterized in that, If the first speed value and the second speed value satisfy a preset condition, then the current fusion speed value is determined based on the historical fusion speed value, the first speed value, and the second speed value, including: Determine whether the absolute value of the difference between the first speed value and the second speed value meets a preset first threshold range; If the conditions are met, the historical fusion speed value corresponding to the previous sampling period is obtained, and the target speed range is determined based on the historical fusion speed value. Based on the target speed range, determine a first fusion weight corresponding to the first speed value and a second fusion weight corresponding to the second speed value; Based on the first fusion weight and the second fusion weight, the first speed value and the second speed value are fused to obtain the current fused speed value.

5. The method according to claim 4, characterized in that, The step of determining the first fusion weight corresponding to the first speed value and the second fusion weight corresponding to the second speed value based on the target speed range includes: If the target speed range is in the low speed range, then the preset first weight and second weight are used as the first fusion weight and the second fusion weight, respectively; the first weight is less than the second weight. If the target speed range is in the high-speed range, and the absolute value of the difference between the first speed value and the second speed value meets the preset second threshold range, then the preset third weight and fourth weight are respectively used as the first fusion weight and the second fusion weight; the third weight is greater than the fourth weight. If the target speed range is in the high-speed range, and the absolute value of the difference between the first speed value and the second speed value does not meet the preset second threshold range, then the first fusion weight is determined to be 0 and the second fusion weight is determined to be 1.

6. The method according to claim 4, characterized in that, The method further includes: If the absolute value of the difference between the first speed value and the second speed value does not meet the preset first threshold range, then the first pulse signal and the second pulse signal are determined to be invalid signals, and the historical fusion speed value is determined as the current fusion speed value.

7. A pipeline inspection device, characterized in that, The pipeline has a built-in pipeline inspection device, which includes a mileage wheel, a first data acquisition device, a second data acquisition device, and a detector. The device is deployed within the detector and includes: The acquisition module is used to acquire, through the first acquisition device and the second acquisition device, a first pulse signal and a second pulse signal corresponding to the odometer wheel, respectively. The first determining module is used to determine the corresponding first speed value and second speed value based on the first pulse signal and the second pulse signal, respectively. The second determining module is used to determine the current fusion speed value based on the historical fusion speed value, the first speed value, and the second speed value if the first speed value and the second speed value meet a preset condition; The detection module is used to detect the pipeline based on the current fusion speed value.

8. A pipeline inspection device, characterized in that, The pipeline inspection equipment includes: a mileage wheel, a first acquisition device, a second acquisition device, a detector, and a memory communicatively connected to the detector; wherein the memory stores a computer program executable by the detector, and the computer program is executed by the detector to enable the detector to perform the pipeline inspection method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are used to cause the detector to perform the pipeline inspection method according to any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a detector, implements the pipeline inspection method according to any one of claims 1-6.

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