CN-122014954-A - Pipeline detection method, device, equipment, medium and program

CN122014954ACN 122014954 ACN122014954 ACN 122014954ACN-122014954-A

Abstract

The invention discloses a pipeline detection method, a pipeline detection device, pipeline detection equipment, pipeline detection medium and pipeline detection program. The pipeline detection device comprises a mileage wheel, a first acquisition device, a second acquisition device and a detector, wherein the method is executed by the detector and comprises the steps of respectively acquiring 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 determining a corresponding first speed value and a corresponding second speed value according to the first pulse signal and the second pulse signal, determining a current fusion speed value according to a historical fusion speed value, the first speed value and the second speed value if the first speed value and the second speed value meet preset conditions, and detecting the pipeline based on the current fusion speed value. According to the technical scheme, high-precision speed measurement and calculation can be realized in a complex environment, so that the stable detection requirement of a pipeline is met.

Inventors

ZHENG JIANFENG
CHEN PENGCHAO
LI RUI
LIU SHENGNAN
FU KUAN
WANG ZIYANG
GUO ZHENGHONG
SU LIN
XUE PENG

Assignees

国家石油天然气管网集团有限公司
国家石油天然气管网集团有限公司科学技术研究总院分公司
国家管网集团储运技术发展有限公司
管网集团(徐州)管道检验检测有限公司

Dates

Publication Date: 20260512
Application Date: 20260401

Claims (10)

1. A pipeline inspection method, characterized in that the pipeline is provided with pipeline inspection equipment, the pipeline inspection equipment comprises a mileage wheel, a first acquisition device, a second acquisition device and a detector, the method is executed by the detector and comprises the following steps: The first acquisition device and the second acquisition device are used for respectively acquiring a first pulse signal and a second pulse signal corresponding to the mileage wheel; according to the first pulse signal and the second pulse signal, respectively determining a corresponding first speed value and a corresponding second speed value; If the first speed value and the second speed value meet the preset condition, determining a current fusion speed value according to the historical fusion speed value, the first speed value and the second speed value; and detecting the pipeline based on the current fusion speed value.
2. The method of claim 1, wherein the first acquisition device is configured to detect axial rotation of the odometer wheel and the second acquisition device is configured to detect radial rotation of the odometer wheel; The first pulse signal and the second pulse signal corresponding to the mileage wheel are respectively acquired by the first acquisition device and the second acquisition device, and the method comprises the following steps: according to a preset sampling period, the pulse signals corresponding to the axial rotation of the mileage wheel are collected through the first collecting device to be used as the first pulse signals, and the pulse signals corresponding to the radial rotation of the mileage wheel are collected through the second collecting device to be used as the second pulse signals.
3. The method of claim 2, wherein determining the corresponding first and second speed values from the first and second pulse signals, respectively, comprises: Determining a first pulse number of the first pulse signal and a second pulse number of the second pulse signal in the preset sampling period; calculating the first speed value according to the circumference of the mileage wheel, the number of unit pulses of the mileage wheel rotating in the axial direction, the first pulse number and the preset sampling period; and calculating the second speed value according to the circumference of the mileage wheel, the number of unit pulses of the mileage wheel rotating in the radial direction, the second pulse number and the preset sampling period.
4. The method of claim 1, wherein determining 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 satisfy a preset condition comprises: judging whether the absolute value of the difference between the first speed value and the second speed value meets a preset first threshold range or not; if yes, acquiring a historical fusion speed value corresponding to the last sampling period, and determining a target speed interval according to the historical fusion speed value; determining a first fusion weight corresponding to the first speed value and a second fusion weight corresponding to the second speed value according to the target speed interval; And fusing the first speed value and the second speed value based on the first fusion weight and the second fusion weight to obtain a current fusion speed value.
5. The method of claim 4, wherein the determining a first fused weight corresponding to the first speed value and a second fused weight corresponding to the second speed value from the target speed interval comprises: if the target speed interval is in a low speed interval, respectively taking a preset first weight and a preset second weight as the first fusion weight and the second fusion weight, wherein the first weight is smaller than the second weight; if the target speed interval is in a high speed interval and the absolute value of the difference between the first speed value and the second speed value meets a preset second threshold range, taking a preset third weight and a preset fourth weight as the first fusion weight and the second fusion weight respectively, wherein the third weight is larger than the fourth weight; And if the target speed interval is in a high speed interval and the absolute value of the difference between the first speed value and the second speed value does not meet a preset second threshold range, determining that the first fusion weight is 0 and the second fusion weight is 1.
6. The method according to claim 4, wherein the method further comprises: and if the absolute value of the difference between the first speed value and the second speed value does not meet a preset first threshold range, determining that the first pulse signal and the second pulse signal are invalid signals, and determining the historical fusion speed value as a current fusion speed value.
7. The utility model provides a pipeline detection device, its characterized in that, pipeline embeds pipeline check out test set, pipeline check out test set includes mileage wheel, first collection system, second collection system and detector, the device is disposed in the detector, includes: the acquisition module is used for respectively acquiring a first pulse signal and a second pulse signal corresponding to the mileage wheel through the first acquisition device and the second acquisition device; the first determining module is used for respectively determining a corresponding first speed value and a corresponding second speed value according to the first pulse signal and the second pulse signal; the second determining module is used for determining a current fusion speed value according to 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 preset conditions; and the detection module is used for detecting the pipeline based on the current fusion speed value.
8. A pipeline inspection device comprising a mileage wheel, a first collection device, a second collection device, a detector, and a memory communicatively coupled to the detector, wherein the memory stores a computer program executable by the detector, the computer program being executable by the detector to enable the detector to perform the pipeline inspection method of any one of claims 1-6.
9. A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, the computer instructions for causing a detector to perform the pipeline detection method of any one of claims 1-6 when executed.
10. A computer program product, characterized in that the computer program product comprises a computer program which, when executed by a detector, implements the pipeline detection method of any one of claims 1-6.

Description

Pipeline detection method, device, equipment, medium and program Technical Field The present invention relates to the field of pipeline detection technologies, and in particular, to a pipeline detection method, device, apparatus, medium, and program. Background The pipeline detector arranged in the pipeline is key equipment for detecting pipeline defects such as inner wall corrosion, cracks, deformation and the like, and the fluctuation of the running speed of the pipeline detector can influence the data effectiveness of the detection sensor. And how to determine the operation speed of the pipeline detector with high precision is a key for controlling the stable detection of the pipeline detector. Currently, the prior art generally collects the milestone signal with a single encoder to determine the measured speed of the pipeline detector and controls the detection of the pipeline based on the measured speed. However, the single encoder has low accuracy in measuring and calculating the speed under the complex environment (such as high pressure, high temperature, strong electromagnetic interference and mileage wheel abrasion) of the pipeline, and cannot meet the requirement of stable detection of the pipeline. Therefore, a pipeline inspection method capable of providing high-precision measuring and calculating speed is needed. Disclosure of Invention The invention provides a pipeline detection method, a device, equipment, a medium and a program, which can realize high-precision speed measurement and calculation in a complex environment, thereby meeting the requirement of stable detection of a pipeline. According to a first aspect of the present invention, there is provided a pipeline inspection apparatus including a mileage wheel, a first collecting device, a second collecting device, and a detector, the method being performed by the detector, comprising: The first acquisition device and the second acquisition device are used for respectively acquiring a first pulse signal and a second pulse signal corresponding to the mileage wheel; according to the first pulse signal and the second pulse signal, respectively determining a corresponding first speed value and a corresponding second speed value; If the first speed value and the second speed value meet the preset condition, determining a current fusion speed value according to the 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 a second aspect of the present invention, there is provided a pipeline inspection device, the pipeline inspection device comprising a mileage wheel, a first collection device, a second collection device and a detector, the device being deployed in the detector, comprising: the acquisition module is used for respectively acquiring a first pulse signal and a second pulse signal corresponding to the mileage wheel through the first acquisition device and the second acquisition device; the first determining module is used for respectively determining a corresponding first speed value and a corresponding second speed value according to the first pulse signal and the second pulse signal; the second determining module is used for determining a current fusion speed value according to 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 preset conditions; and the detection module is used for detecting the pipeline based on the current fusion speed value. According to a third aspect of the present invention, there is provided a pipe inspection apparatus comprising: the pipeline detection system comprises a mileage wheel, a first acquisition device, a second acquisition device, a detector and a memory in communication connection with the detector, wherein the memory stores a computer program which can be executed by the detector, and the computer program is executed by the detector so that the detector can execute the pipeline detection method according to any embodiment of the invention. According to a fourth aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a detector to perform a pipeline detection method according to any one of the embodiments of the present invention. According to a fifth aspect of the present invention, there is provided a computer program product comprising a computer program which, when executed by a detector, implements a pipeline detection method according to any of the embodiments of the present invention. According to the technical scheme, the first pulse signal and the second pulse signal corresponding to the mileage wheel can be respectively acquired through the first acquisition device and the second acquisition device, the corresponding first speed value and second speed value are respectively determined according to the first pulse signal a