Underwater sonar periscopic system and detection method

Abstract

The invention discloses an underwater sonar periscopic system and discloses an underwater sonar detection method applied to the underwater sonar periscopic system, and the underwater sonar periscopic system comprises an acousto-optic integration module, a fixed telescopic rod, a power supply communication control unit and an acquisition and calculation unit. Wherein the acousto-optic integrated module is used for collecting sonar image and optical image information and orientation and attitude information of the acousto-optic integrated module; one end of the fixed telescopic rod is connected with the acousto-optic integrated module structure; the power supply communication control unit is electrically connected with the acousto-optic integration module; and the acquisition and calculation unit is electrically connected with the power supply communication control unit and is used for generating a tube well connection information plane overview according to the sonar image information and displaying optical image information. On the basis of the pipeline periscope, the underwater image sonar function is combined, and the conditions of pipeline structure characteristics above and below the water surface in a pipe well, branch pipe connection and the like can be found out at the same time.

Description

Technical Field

[0001] The present invention relates to the field of underwater detection, and in particular to an underwater sonar periscope system and a detection method. Background Art

[0002] In cities with dense river networks and developed water systems, high water levels are common in underground drainage networks. It is difficult to operate and inspect networks with large well chambers, eccentricity, high water levels, and deep buried pipes. Municipal divers are usually required to dive and check the pipe openings of the connecting pipes in the sewage wells, and seal the pipe openings with air bags of suitable pipe diameters. However, some wells have fast flow rates, deep burials, and high concentrations of toxic and harmful gases, which poses a high safety risk for diving operations. In recent years, personal safety accidents in municipal engineering diving operations have been common. For high-water inspection wells where the pipe openings cannot be seen with the naked eye, the use of pipeline periscopes QV can quickly detect and obtain information inside the wells.

[0003] The pipeline periscope QV is a device for rapid optical camera detection in the well. It uses the technology of electronic camera high-magnification zoom and lighting equipment to quickly detect and view the problems of low-water-level pipeline outlets. It is easy to carry and simple to operate. However, the existing pipeline periscope QV can only detect the situation above the water surface in the pipe. The deeper the water level in the pipe, the smaller the visible space, and the fewer problems that can be found. The illumination distance can generally reach 30 meters to 40 meters, and the effective observation distance on one side is only about 20 meters to 30 meters. Therefore, the existing pipeline periscope QV can only observe and detect the situation above the water surface in the well and the pipeline outlet, and cannot determine the connection of the pipeline below the water surface. If it is combined with construction measures such as plugging, drainage and pumping, municipal divers are required to go down the well, manually explore the mold, plug the airbag, and pump water in the well. The safety risk is high and time-consuming. Underwater exploration of large well chambers or eccentric well conditions is prone to leaking pipes.

[0004] Image sonar, also known as two-dimensional real-time image sonar, is an active sonar carried on underwater robots for navigation and forward-looking exploration. It is called the "eyes of underwater robots" and has high resolution, high frequency and long detection distance. It can not only detect conditions in the water, but also track targets in the field of view, determine the size and shape of the target, and can determine the target's position from the transducer in real time, but it cannot display direction angle and attitude information. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes an underwater sonar periscope system, which combines the function of image sonar on the basis of the pipeline periscope, and can find out the structural characteristics below the water surface in the well and the connection of branch pipes, including the number, orientation, material, pipe diameter, length, pipe bottom burial depth, water flow direction, and well dimensions, well chamber materials, special structural forms and dimensions of branch pipes, and can observe the connection of branch pipes above water through lighting and cameras. It is an innovative technical method for drainage operation and maintenance to find high water level operation of pipelines and the cause of waterlogging, breaking through the technical bottleneck of the municipal pipe network operation and maintenance industry, and filling the technical gap of rapid underwater exploration methods before pipe network inspection, plugging and drainage, and construction and repair.

[0006] The present invention also proposes an underwater sonar detection method applied to the above-mentioned underwater sonar periscope system.

[0007] An underwater sonar periscope system according to an embodiment of the first aspect of the present invention is characterized by comprising: An acoustic-optical integrated module, the acoustic-optical integrated module is used to collect first sonar image information and first image information; the acoustic-optical integrated module is also used to obtain orientation information and posture information of the acoustic-optical integrated module; A fixed telescopic rod, one end of which is connected to the acoustic-optical integrated module structure; A power supply communication control unit, the power supply communication control unit is electrically connected to the acoustic-optical integrated module, the power supply communication control unit is also electrically connected to a power source, the power supply communication control unit is used to convert the first sonar image information into second sonar image information, and the power supply communication control unit is also used to convert the first image information into second image information; An acquisition and calculation unit, wherein the acquisition and calculation unit is electrically connected to the power supply and communication control unit, and the acquisition and calculation unit is used to acquire and display the second sonar image information, the second image information, the orientation information and the posture information. The acquisition and calculation unit is also used to adjust and display the pitch angle and roll angle of the acoustic and optical integrated module, and the acquisition and calculation unit is also used to generate a plan overview of the pipe well connection information based on the second sonar image information.

[0008] According to some embodiments of the present invention, the acousto-optic integrated module comprises: A fixing frame, the fixing frame being connected to the fixed telescopic rod structure; An underwater sonar periscope probe, used for collecting the first sonar image information, the underwater sonar periscope probe is provided with a sonar, the underwater sonar periscope probe is electrically connected to the power supply and communication control unit, and the underwater sonar periscope probe is connected to the fixing frame structure; An optical camera, used for collecting the first image information, the optical camera is electrically connected to the power supply communication control unit, and the optical camera is connected to the fixing frame structure; A steering gear is connected to the fixed frame structure, the optical camera and the underwater sonar periscope probe are both connected to the steering gear structure, and the steering gear is electrically connected to the power supply and communication control unit.

[0009] According to some embodiments of the present invention, the acousto-optic integrated module further comprises: A lighting lamp, wherein the lighting lamp is connected to the fixing frame structure, and the lighting lamp is electrically connected to the power supply communication control unit.

[0010] According to some embodiments of the present invention, the acousto-optic integrated module further comprises: A magnetic compass, which is built into the underwater sonar periscope probe and is used to obtain the orientation information; An attitude meter is built into the underwater sonar periscope probe, and is used to obtain the attitude information.

[0011] According to some embodiments of the present invention, the further comprising: A retractable bottoming rod, which is structurally connected to the fixed retractable rod, is used to adjust the height of the acoustic-optical integrated module.

[0012] The underwater sonar detection method according to the second aspect of the present invention comprises the following steps: Lower the sound and light integrated module to the pipe opening by fixing the telescopic rod; The acoustic-optical integrated module collects the first sonar image information and the first image information, and obtains the orientation information and the posture information of the acoustic-optical integrated module; The power supply communication control unit converts the first sonar image information into second sonar image information, and the power supply communication control unit also converts the first image information into second image information; The acquisition and calculation unit adjusts the pitch angle and roll angle of the acoustic and optical integrated module, obtains and displays the second sonar image information, the second image information, the orientation information and the posture information, and generates a plan overview of the pipe-well connection information according to the second sonar image information.

[0013] According to some embodiments of the present invention, the acquisition and calculation unit includes a steering gear and a lighting control module; the method of lowering the sound and light integrated module to the pipe opening by fixing the telescopic rod includes: Keep the sound and light integrated module horizontal, lock the pitch angle of the sound and light integrated module to 0°, and lower the sound and light integrated module from the wellhead toward a fixed direction through the fixed telescopic rod until the pipeline and the two side walls are seen. If there is no branch pipe in this direction, lower the sound and light integrated module to the bottom of the well; If the pipeline has a slope, according to the slope, the power supply communication control unit is controlled by the acquisition and calculation unit to output an adjustment signal to the steering gear, and the steering gear adjusts the pitch angle of the acoustic and optical integrated module according to the adjustment signal.

[0014] According to some embodiments of the present invention, the acquisition and calculation unit further includes a sonar control and display module, an optical camera control and display module, a magnetic compass direction angle display module, and a steering gear attitude angle control module; the acoustic and optical integration module includes the underwater sonar periscope probe and the optical camera; the underwater sonar periscope probe is provided with a sonar, a magnetic compass and an attitude meter; the acoustic and optical integration module acquires the first sonar image information and the first image information, and obtains the orientation information and attitude information of the acoustic and optical integration module, including: The sonar control and display module controls the sonar to be turned on, and the optical camera control and display module controls the optical camera to be turned on; The magnetic compass direction angle display module obtains and displays the orientation information of the underwater sonar periscope probe, and the steering gear attitude angle control module obtains and displays the attitude information of the underwater sonar periscope probe; When the acousto-optic integrated module is lowered in the well chamber and a branch pipe is detected, the acousto-optic integrated module is rotated one circle with the fixed telescopic rod as the axis, and the acousto-optic integrated module is continuously lowered toward the fixed direction; When the acoustic-optical integrated module is lowered into the well chamber and reaches the bottom of the well, the fixed direction of the acoustic-optical integrated module is changed, and the acoustic-optical integrated module is lifted along the fixed direction. If the acoustic-optical integrated module detects a branch pipe during the lifting process, the acoustic-optical integrated module is rotated one circle with the fixed telescopic rod as the axis. When the acoustic-optical integrated module reaches the water surface, the direction of the acoustic-optical integrated module is changed again, and the process is repeated several times. The underwater sonar periscope probe collects the first sonar image information, and the optical camera collects the first image information.

[0015] According to some embodiments of the present invention, the acquisition and calculation unit also includes a module for creating and opening a pipe-well connection project, a downhole information input module, a branch pipe connection information input module, and a well branch pipe connection information export module; the sound and light integration module includes a steering gear; the acquisition and calculation unit adjusts the pitch angle and roll angle of the sound and light integration module, obtains and displays the second sonar image information, the second image information, the orientation information and the attitude information, and generates a plane overview of the pipe-well connection information according to the second sonar image information, including: The acquisition calculation unit outputs a roll angle and a pitch angle adjustment signal to the steering gear through the power supply communication control unit, and the steering gear adjusts the roll angle and the pitch angle of the acoustic and optical integrated module according to the roll angle and the pitch angle adjustment signal to further acquire the first sonar image information; The power supply communication control unit converts the first sonar image information into second sonar image information and outputs the second sonar image information to the acquisition and calculation unit; The sonar control and display module controls the acquisition and display of the second sonar image information, and the optical camera control and display module acquires and displays the second image information; The newly-built and opened pipe well connection engineering module enters engineering information; The downhole information input module inputs downhole information; The branch pipe connection information input module inputs branch pipe connection information; The well branch pipe connection information export module edits the engineering information, downhole information and the branch pipe connection information, exports a table, and generates a plan overview of the pipe-well connection information based on the second sonar image information and the branch pipe connection information.

[0016] According to some embodiments of the present invention, the engineering information includes: project information, engineering name, road name or number, inspection time, inspection location, inspection personnel, and inspection unit information; The underground information includes: well number, type, manhole cover size, material and status, well chamber size, material and well depth, water depth and mud depth in the well, number of branch pipes, form and size information of interception facilities, project path, name, well number, number of connecting pipes, current branch pipe number and azimuth, current screenshot path and number of stored pictures; The branch pipe connection information includes: branch pipe number, pipe diameter, material, azimuth, burial depth, pipe length, branch pipe attributes and flow direction information.

[0017] The underwater sonar periscope probe and detection method according to the embodiments of the present invention have at least the following beneficial effects: by connecting one end of the fixed telescopic rod to the sound and light integrated module structure, the sound and light integrated module is allowed to change the longitudinal pitch direction angle and the lateral roll direction angle when collecting pipeline information, so that the device can adapt to the pipeline information collection work under different angles and working conditions, and can more comprehensively collect pipeline information, including the connection status of the pipeline branch pipe, the pipeline material, the pipe diameter, the orientation, the burial depth, the pipe length and other information, to ensure that no pipeline information is missed; by setting the sound and light integrated module that can collect both the image information on the water and the underwater sonar information, this multi-channel composite information collection The collection mode makes the pipeline information collected by the equipment more comprehensive, accurate and reliable. In particular, the collection of underwater pipeline information is not affected by water turbidity and flow rate, and can quickly detect and inspect the underwater and above-water structural characteristics and branch pipe connection conditions in the pipeline well; by setting a power supply communication control unit between the sound and light integration module and the collection and calculation unit, the transmission of pipeline information and control signals between the two is integrated and precise, and the power supply management of the equipment is convenient; by generating a planar overview of the pipe well connection information by the collection and calculation unit, all pipeline information collected by the sound and light integration module is integrated, clarified and visualized, making the pipeline information clearer, thereby improving the efficiency of pipeline network investigation and operation and maintenance.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 A schematic diagram of module connection of an underwater sonar periscope system according to an embodiment of the present invention; Figure 2 for Figure 1 The structure diagram of the acoustic and optical integrated module and the fixed telescopic rod of the underwater sonar periscope system is shown; Figure 3 for Figure 1 The structure diagram of the acoustic-optical integrated module and the fixed telescopic rod of the underwater sonar periscope system in two different working modes is shown; Figure 4 A schematic diagram of a flow chart of an underwater sonar detection method according to an embodiment of the present invention; Figure 5 for Figure 4 The overall flow chart of the underwater sonar detection method for generating a plan overview of the pipe well connection information according to the second sonar image information is shown; Figure 6 for Figure 4 The specific algorithm flow chart of the underwater sonar detection method for generating a plan overview of the pipe well connection information according to the second sonar image information; Figure 7 for Figure 4 An example diagram showing a plan overview of pipeline information of an underwater sonar detection method.

[0020] Acoustic-optical integrated module 100, underwater sonar periscope probe 110, optical camera 120, servo 130, lighting lamp 140, fixed telescopic rod 200, lock 210, fixing bracket 220, power supply communication control unit 300, power supply 400, acquisition and calculation unit 500, connecting cable 600, bottoming rod 700. DETAILED DESCRIPTION

[0021] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0022] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0023] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0024] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0025] The following is combined with Figure 1-6 , describe in detail the underwater sonar periscope system and detection method of the embodiments of the present invention.

[0026] Reference Figure 1 and Figure 2 The present invention proposes an underwater sonar periscope system, comprising: The acoustic-optical integrated module 100 is used to collect the first sonar image information and the first image information; the acoustic-optical integrated module 100 is also used to obtain the orientation information and posture information of the acoustic-optical integrated module 100 itself; A fixed telescopic rod 200, one end of which is structurally connected to the acoustic-optical integrated module 100; A power supply communication control unit 300, the power supply communication control unit 300 is electrically connected to the acoustic-optical integrated module 100, and the power supply communication control unit 300 is also electrically connected to the power supply 400, and the power supply communication control unit 300 is used to convert the first sonar image information into the second sonar image information, and the power supply communication control unit 300 is also used to convert the first image information into the second image information; The acquisition and calculation unit 500 is electrically connected to the power supply and communication control unit 300. The acquisition and calculation unit 500 is used to acquire and display the second sonar image information, the second image information, the orientation information and the posture information. The acquisition and calculation unit 500 is also used to adjust the pitch angle and the roll angle of the acoustic and optical integrated module 100. The acquisition and calculation unit 500 is also used to generate a plan overview of the pipe well connection information according to the second sonar image information.

[0027] Specifically, in this embodiment, the acoustic-optical integrated module 100 is used for above-water and underwater detection and perception in high-water-level wells, and includes both an underwater sonar periscope probe 110 and an optical camera 120. Therefore, the first underwater sonar image information can be collected by the underwater sonar periscope probe 110, and the first surface image information can be collected by the optical camera 120, wherein the first surface image information includes the position, diameter, and number of surface branch pipes; the first underwater sonar image information includes the number of connections, position, diameter, pipe bottom burial depth, water flow direction, and well chamber size of the branch pipes below the water surface. The fixed telescopic rod 200 is made of carbon fiber or aluminum, and adopts a telescopic structure with multiple sections of large-diameter tubes and small-diameter tubes that are retracted section by section. Each section is 1.5m long, and 8 to 10 sections can be optionally configured, with an optional length of 12m to 15m. Each section is fixed by a lock 210. When the fixed telescopic rod 200 is retracted to the shortest length, the length is 2.2m. A scale is also provided on the fixed telescopic rod 200 to detect the buried depth of the branch pipe. A fixing frame 220 is provided at one end of the small-diameter side of the fixed telescopic rod 200. The fixing frame 220 is structurally connected to the acoustic-optical integrated module 100, thereby allowing the acoustic-optical integrated module 100 to rotate in the up and down pitch directions and the left and right roll angles. The power supply communication control unit 300 serves as a transmission and conversion unit of a complete set of hardware and software, and is used to provide voltage transformation and communication conversion for the acoustic and optical integration module 100, convert the first sonar image information collected by the underwater sonar periscope probe 110 into second sonar image information that can be accepted and recognized by the computer, and convert the first image information collected by the optical camera 120 into second image information that can be accepted and recognized by the computer, and transmit the second sonar image information and the second image information as well as the working status of the acoustic and optical integration module 100 to the acquisition and calculation unit 500 through a cable. The power supply communication control unit 300 is also provided with a mini router, so data interaction with the acquisition and calculation unit 500 can also be performed through a wireless network. The acquisition and calculation unit 500 uses a computer device and is installed with the PipeSQV pipeline sonar periscope acquisition software. The second sonar image information and the second image information are received through the PipeSQV pipeline sonar periscope acquisition software, or the first sonar image information and the first image information are directly transmitted over a wireless network through the IP set to the same local area network as the sound and light integration module 100. According to the first sonar image information or the second sonar image information, based on the automatic image stitching algorithm of the PipeSQV pipeline sonar periscope acquisition software, a one-click overview of the pipe diameter connection information is generated (refer to Figure 7), that is, the software can parse, display and save camera and sonar image data, and has the operation functions of sonar frequency, gain, range adjustment, steering gear angle adjustment, lighting control, measuring image feature scale, and pipe diameter. The software develops an automatic image stitching algorithm, which can obtain 360° all-round images from top to bottom in the well according to the optimal acquisition operation process, and realize a plan overview of the pipe-well connection information in all directions, such as pipe diameter, pipe material, orientation, length, burial depth, and water flow direction information. The data collected by each well can be called, revisited, and reviewed in the pipe-well connection plan. The acoustic-optical integrated module 100 and the power supply communication unit 300 are electrically connected through a connecting cable 600. The connecting cable 600 is mainly composed of a watertight cable (preferably 15m) from the acoustic-optical integrated module 100 to the power supply communication control unit 300 and a power supply cable (1m~1.5m) from the power supply communication control unit 300 to the power supply 400, and gigabit bandwidth communication.

[0028] More specifically, the PipeSQV pipeline sonar periscope acquisition software includes: sonar control and display module, downhole information input module, optical camera control and display module, magnetic compass module, steering gear and lighting control module. When realizing the function of "adjusting the roll and pitch angles of the steering gear", the acquisition calculation unit 500 outputs a control signal to control the steering gear part of the sound and light integrated module 100, thereby controlling the pitch angle and roll angle of the sound and light integrated module 100, which involves the steering gear and lighting control module, sonar control and display module, and optical camera control and display module. The sound and light integrated module 100 will display sonar and camera images of different angles as the roll angle and pitch angle of its own steering gear change; When realizing the function of "observing the length of the pipeline, observing and recording the pipeline information at multiple azimuths", the acquisition and calculation unit 500 directly obtains and displays the orientation (heading) information and attitude information of the acoustic and optical integration module 100 through wireless networks or other means, involving the sonar control and display module and the magnetic compass module, and displays the second sonar image information and the second image information in real time. By setting the sonar range and measuring the pipeline length according to the characteristic sonar image of the pipe entering the well, the azimuth of each pipe wall when it is parallel to the center line during the acquisition process is read and recorded.

[0029] When realizing the function of "generating a plan view of the pipe connection in the well with one click", the sonar control and display module and the downhole information entry module are involved. The continuous frames of sonar images in the closed-loop process of lowering, rotating, translating, lifting and rotating are recorded according to continuous acquisition actions. The heading and attitude data provided by the sonar inertial navigation data are used to calibrate the distortion of each frame of the image. The image stitching technology in the transform domain is used to eliminate the seams of the continuous frame images of the branch pipes with different numbers, pipe diameters, water flow directions, and pipe lengths. This allows you to intuitively and comprehensively know the number, location, diameter, material, water flow direction, length and other information of the branch pipe access to the inspection well, and you can use one lens to find out the connection relationship of the high water level / full water well chamber, optimizing the pain points of pipe maintenance and operation. Reference Figure 5 , which is a schematic diagram of the overall process of realizing the function of "generating a well pipeline connection plan with one click". When processing the second sonar image information, first bind the saved second sonar image data, then determine whether the second sonar image data contains the start frame and the end frame. If so, parse the second sonar image data and the magnetic sensor data in the magnetic compass and execute the sonar image processing and splicing algorithm. When all the second sonar image data are processed to the end frame, the following is generated. Figure 7 More specifically, when using an algorithm to generate a pipeline connection overview map, this embodiment refers to Figure 6 First, the second sonar image information and the corresponding pipe well and branch pipe input information are input into the software system. After data preprocessing, the sonar image data is sequentially subjected to the algorithm steps of polar coordinate conversion, parameter initialization, position registration optimization, sonar image stitching, stitching edge smoothing and branch pipe redirection to obtain the stitched sonar image. After the well and branch pipe input information is read through the annotation information, the azimuth detection, burial depth detection and information analysis algorithm are performed to obtain the azimuth information, burial depth information and annotation analysis information. The corresponding azimuth information is combined with the stitched sonar image to determine whether the stitching is completed. If the stitching is completed, the algorithm steps of stitching image mixing, branch pipe feature extraction, smoothing the mixed boundary and calculating the feature mask are continued. Then, the branch pipe pixel synthesis algorithm is executed, and the color mapping algorithm is executed in combination with the burial depth information, and the image annotation algorithm is executed in combination with the annotation analysis information, thereby completing the generation of the pipe well connection overview map.

[0030] The principle of generating the plan view of the pipeline connection in the well is to process the acoustic image based on the image stitching technology in the transform domain. First, the multi-source image processing technology is integrated to improve the quality of the sonar image, and a variety of filtering and enhancement algorithms are combined to amplify the effective signal and suppress the background noise. Then, the movement of the sonar image is inferred in the frequency domain image through the Fourier transform algorithm. The algorithm describes the posture changes between sonar images from three dimensions: translation, rotation, and scale, and obtains a rough stitched image. Secondly, the posture graph is further optimized globally in combination with the sonar inertial navigation data, and the stitching error generated by the algorithm is assisted by the sensor data to optimize the target edge misalignment problem in the stitched image. Finally, the image fusion technology is used to perform weighted fusion on the stitched images to achieve smooth transition, eliminate seams, and obtain accurate stitched images.

[0031] When using the underwater sonar periscope system of the present embodiment, the optical camera 120 first observes the position, diameter, and number of branch pipes above the water surface, and turns on the lighting fill light in a dark environment; the underwater sonar periscope system 110 first maintains a horizontal installation and locks the steering gear angle to 0°, and can horizontally scan and detect the number, position, diameter, bottom burial depth, water flow direction, and well chamber size of the branch pipes below the water surface. During the lowering of the sound and light integrated module 100 by fixing the telescopic rod 200, observe whether there is a branch pipe on the well wall in the acquisition software window. When a branch pipe is found in the well, the sonar image will show two parallel bright lines in the depth direction as the left and right side walls of the pipeline. At this time, the diameter of the pipe is measured, the depth of the telescopic rod lowered compared to the ground is recorded, and the pipe is added. The radius of the channel is the buried depth of the pipe bottom. Rotate the horizontal angle of the fixed telescopic rod 200 to make the bright lines of the pipe side wall parallel to both sides of the center line, and record the magnetic compass azimuth of the branch pipe as the pipeline azimuth. At the same time, the intermediate image can also be observed as the top surface of the pipe to identify the pipe material, pipe section length, pipe mouth structure and defects. Observe the flow direction of floating objects in the water to determine the flow direction of the branch pipe. By controlling the range increase through the acquisition software, it can be observed that the bright lines of the sonar image pipeline and the bright bands of the pipe sections in the middle suddenly change to dark areas or suddenly connect to the well chamber at a certain distance. The distance from the mutation point to the origin of the sonar probe can be measured as the length of the branch pipe. If the slope of the pipeline is obvious, the servo 130 can be controlled to adjust the pitch angle of the sound and light integrated module 100 to obtain the accurate length of the branch pipe. Then control the servo 130 to rotate the sound and light integrated module 100 to a roll angle of 90°. For example, refer to Figure 3 , Figure 3 The left side shows the working state of the sound and light integrated module 100 just lowered below the water surface, at which time the roll angle is 0°. Figure 3The right side is the working state when the steering gear 130 is controlled to rotate the sound and light integrated module 100 to a roll angle of 90°. By controlling the steering gear 130 to rotate the sound and light integrated module 100 to a roll angle of 90°, the side-mounted scanning can be used to detect the materials of each branch pipe below the water surface, observe and identify the sonar image of the plastic pipe with a concave and convex corrugated surface at the pipe mouth, or a concrete pipe with a flat surface at a fixed interval between pipe sections, or a steel pipe with a wide bright strip at the weld at the pipe section. The underwater sonar periscope probe 110 is lowered to the middle of the pipe to measure the height of the flow space at the pipe mouth; it can be spirally rotated in the well chamber to observe and record the well chamber material, special structural form and size. The rotation angle and pitch angle are controlled by the steering gear 130 on the side fixed frame. According to different observation and detection needs, the angle can be set by the acquisition software; the lower bottoming rod can be adjusted and controlled according to the height of the pipe from the bottom of the well, which protects and supports the integrated module.

[0032] When the device collects the first image information, it first collects digital signals through the spectral color information of the high-definition camera of the optical camera 120. When the sound and light integrated module 100 is lowered, it rotates a circle to observe whether there is a circular pipe opening above the water surface of the wellbore. If there is a circular pipe opening, the center of the pipe opening is focused to collect the shape of the pipe opening, measure the size, observe the material, determine the azimuth and burial depth data; when the device converts the first image information into the second image information, it converts the optical chromatographic camera signal into an electrical signal through an optical sensor, and then converts it into a digital signal through an analog-to-digital converter. The digital signal is amplified and denoised by an image processing chip, and the second image information is displayed on a computer after being transmitted via a network cable and decoded by video software. When the device collects the first sonar image information, it first collects acoustic signals through the sonar transducer. When the probe of the acoustic-optical integrated module 100 is lowered below the water surface, it rotates a circle to observe whether there is a circular pipe opening below the water surface of the wellbore. If there is a circular pipe opening, the pipe opening shape, size, azimuth and burial depth data are collected directly at the center of the pipe opening. When the device converts the first sonar image information into the second sonar image information, the acoustic sensor converts the acoustic signal into an electrical signal, and then converts it into a digital signal through an analog-to-digital converter. Through beamforming algorithm, noise reduction, filtering and other processing, the second sonar image information is transmitted via a network cable and decoded by software to be displayed on a computer.

[0033] Subsequently, the acoustic image of the second sonar image information is processed based on the image stitching technology in the transform domain. First, the multi-source image processing technology is integrated to improve the quality of the acoustic image, and a variety of filtering and enhancement algorithms are combined to amplify the effective signal and suppress background noise. Then, the movement of the sonar image is inferred in the frequency domain image through the Fourier transform algorithm. The algorithm describes the posture changes between sonar images from three dimensions: translation, rotation, and scale to obtain a rough stitched image. Secondly, the sonar inertial navigation data is further combined to globally optimize the posture graph, and the sensor data is used to assist in correcting the stitching error generated by the algorithm to optimize the target edge misalignment problem in the stitched image. Finally, the image fusion technology is used to perform weighted fusion of the stitched images to achieve smooth transition, eliminate seams, and obtain accurate stitched images, that is, to generate a well pipeline connection plan with one click.

[0034] Reference Figure 2 Further, in some embodiments of the present invention, the acousto-optic integrated module 100 includes: A fixed frame 220, the fixed frame 220 is structurally connected to the fixed telescopic rod 200; The underwater sonar periscope probe 110 is used to collect the first sonar image information. The underwater sonar periscope probe 110 is provided with a sonar. The underwater sonar periscope probe 110 is electrically connected to the power supply communication control unit 300. The underwater sonar periscope probe 110 is structurally connected to the fixing frame 220; The optical camera 120 is used to collect the first image information. The optical camera 120 is electrically connected to the power supply communication control unit 300, and the optical camera 120 is structurally connected to the fixing frame 220; The steering engine 130 is structurally connected to the fixing frame 220 , the optical camera 120 and the underwater sonar periscope probe 110 are both structurally connected to the steering engine 130 , and the steering engine 130 is electrically connected to the power supply and communication control unit 300 .

[0035] Specifically, in this embodiment, the acoustic-optical integrated module 100 includes both an underwater sonar periscope probe 110 and an optical camera 120, both of which are fixed on a fixing frame 220. Therefore, the device can collect the first underwater sonar image information through the underwater sonar periscope probe 110, and collect the first image information above water through the optical camera 120, wherein the first image information above water includes the position, diameter, and number of the above-water branch pipes; the first underwater sonar image information includes the number of connections, position, diameter, pipe bottom burial depth, water flow direction, and well chamber size of the branch pipes below the water surface. The servo 130 is structurally connected to the fixed frame 220 at the end of the fixed telescopic rod 200, and is structurally connected to the sound and light integrated module 100, and can control the sound and light integrated module 100 to rotate in pitch and roll angles. The servo 130 is also electrically connected to the power supply communication control unit 300. Therefore, the servo 130 controls the sound and light integrated module 100 to rotate in pitch and roll angles through the command issued by the acquisition calculation unit 500, so that a 360° all-round image from top to bottom in the well can be obtained according to the optimal acquisition operation process, and a planar overview of the pipe-well connection information in all directions, such as pipe diameter, pipe material, orientation, length, burial depth, and water flow direction information, can be achieved. The servo can drive the fixed frame pan / tilt to drive the sound and light integrated module 100 to rotate ±90° left and right (roll angle) and ±45° up and down (pitch angle) by numerical value or click.

[0036] Reference Figure 2 Furthermore, in some embodiments of the present invention, the acousto-optic integrated module 100 further includes: The lighting lamp 140 is structurally connected to the optical camera 120 , and is electrically connected to the power supply and communication control unit 300 . The lighting lamp 140 is used to provide lighting for the optical camera 120 according to the first control signal.

[0037] Specifically, in this embodiment, the lighting lamp 140 and the optical camera 120 are arranged on the same plane and face the same direction, and are both fixedly mounted on the fixing frame 220. The switch and brightness are controlled by the acquisition and calculation unit 500 via the power supply and communication control unit 300, so that lighting fill light can be turned on for the optical camera 120 in a dark environment.

[0038] Reference Figure 2 Furthermore, in some embodiments of the present invention, the acousto-optic integrated module 100 further includes: A magnetic compass, which is built into the underwater sonar periscope probe 110 and is used to obtain direction information; An attitude indicator is built into the underwater sonar periscope probe 110 and is used to obtain attitude information.

[0039] Specifically, in this embodiment, the attitude meter is fixed inside the underwater sonar periscope probe 110, records and outputs the attitude information of the underwater sonar periscope probe 110, including the pitch angle, and outputs it to the acquisition and calculation unit 500 through the power supply and communication control unit 300 as the working information of the underwater sonar periscope probe 110. The magnetic compass is used to provide the orientation information of the underwater sonar periscope probe 110, and the orientation information is provided to the acquisition and calculation unit 500 through the power supply and communication control unit 300. In addition, when a branch pipe is found in the well, the sonar image will show two parallel bright lines in the longitudinal direction as the left and right side walls of the pipe. At this time, the pipe diameter is measured, the depth of the telescopic rod lowered compared to the ground is recorded, and the pipe radius is added to the pipe bottom burial depth. The horizontal angle of the fixed telescopic rod 200 is rotated to present the bright lines of the pipe side wall on both sides of the parallel center line, and the magnetic compass azimuth of the branch pipe is recorded as the pipe azimuth. Since the underwater sonar periscope probe 110 integrates a magnetic compass and an attitude sensor, the geomagnetic direction and attitude angle of the underwater sonar periscope probe 110 can be displayed on the acquisition software of the acquisition calculation unit 500, and the relationship between the direction of the pipeline and the road and surrounding buildings can be observed on the ground. When the device is running, the magnetic compass is used as a built-in sensor of the underwater sonar periscope probe 110, and the magnetic compass direction (heading) instrument is used to determine the direction and direction angle information of the underwater sonar periscope probe 110. The direction angle data of the magnetic compass is transmitted to the built-in circuit of the underwater sonar periscope probe 110 for summary and packaging; the attitude meter is also used as a built-in sensor of the underwater sonar periscope probe 110. The attitude meter is used to measure the attitude information of the underwater sonar periscope probe 110. The attitude information data is transmitted to the built-in circuit of the underwater sonar periscope probe 110 for summary and packaging, and uploaded to the power supply communication control unit 300 together with the first sonar image information and the magnetic compass direction angle data using the TCP network protocol.

[0040] Reference Figure 2 , further, in some embodiments of the present invention, it also includes: The retractable bottoming rod 700 is structurally connected to the fixed retractable rod 200 and is used to adjust the height of the acousto-optic integrated module 100 .

[0041] Specifically, in this embodiment, the bottoming rod 700 is structurally connected to the fixed frame 200 at the end of the fixed telescopic rod 200. The bottoming rod 700 can adjust the height of the underwater sonar periscope probe 110 from the bottom according to the height of the pipeline from the bottom of the well, thereby protecting and supporting the acoustic and optical integrated module 100.

[0042] Reference Figure 4 The present invention also proposes an underwater sonar detection method, which is applied to the underwater sonar periscope system of any of the above embodiments, and is characterized by comprising the following steps: S100: lowering the sound and light integrated module 100 to the pipe opening by fixing the telescopic rod 200; S200: The acoustic-optical integrated module 100 collects first sonar image information and first image information, and obtains orientation information and posture information of the acoustic-optical integrated module 100; S300: the power supply communication control unit 300 converts the first sonar image information into the second sonar image information, and the power supply communication control unit 300 also converts the first image information into the second image information; S400: The acquisition and calculation unit 500 adjusts the pitch angle and roll angle of the acoustic and optical integrated module 100, obtains and displays the second sonar image information, the second image information, the orientation information and the attitude information, and generates a plan overview of the pipe-well connection information according to the second sonar image information.

[0043] Specifically, in this embodiment, step S100 is specifically as follows: after the traffic relief situation at the operation site is prepared, the equipment storage box is opened, the sound and light integrated module 100 and the fixed telescopic rod 200 are connected, the communication cable plug of the sound and light integrated module 100 is connected to the power supply communication control unit 300, and the power supply communication control unit 300 is connected to the electric small two or the voltage stabilizer 400. After ensuring that all parts are firmly connected, the power supply 400 is turned on for power supply, and the acquisition software app on the acquisition calculation unit 500 is turned on to establish software-side engineering information, enter the well number and other information; (two-way network signal communication), the sound and light integrated module 100 is lowered through the fixed telescopic rod 200, and the lowering depth is manually controlled by the lock 210 of the fixed telescopic rod 200 according to the depth of the well chamber, and the sonar real-time image is turned on after entering the water. If the water flow in the well is large, the height of the bottom of the pipeline from the bottom of the well can be adjusted and controlled according to the height feedback of the sonar image. The bottom of the underwater sound and light integrated module 100 bottoming rod 700 is used as a fixed support; Step S200 is specifically as follows: the sound and light integrated module 110 is first kept horizontally installed, the steering gear angle is locked to 0°, and the collected data is recorded after entering the water. During the lowering process, it is observed whether there is a branch pipe in a certain direction. If so, the range is zoomed in and out, and after a circle, it is lowered for observation. If the pipeline has a slope and the slope is obvious, the PipeSQV pipeline sonar periscope acquisition software is controlled to adjust the pitch angle of the steering gear 130 and observe the length of the pipeline. After observing and recording the pipeline information of multiple azimuths, the acquisition is stopped; Step S300 is specifically as follows: the power supply communication control unit 300 converts the first sonar image information into second sonar image information recognizable by a computer, and the power supply communication control unit 300 also converts the first image information into second image information recognizable by a computer, and transmits it to the acquisition and calculation unit 500; Step S400 is specifically as follows: the acquisition and calculation unit 500 acquires and displays the second sonar image information and the second image information, and can input numerical settings, adjust, and display the roll angle and pitch angle of the acoustic and optical integration module 100, input the pipe-well connection information, and generate a plane overview of the pipe-well connection information according to the second sonar image information, splice the sonar image according to the motion information, and use the image fusion technology and the sonar inertial navigation posture data to calibrate the motion of the sonar image, so that a single-click image such as the one shown in FIG. 1 can be generated in the acquisition software. Figure 7 The plan view of the pipeline connection in the well is shown.

[0044] Further, in some embodiments of the present invention, the acquisition and calculation unit 100 includes a steering gear and a lighting control module; step S100: lowering the sound and light integrated module 100 to the pipe opening by fixing the telescopic rod 200, including: (1) Keep the acoustic-optic integrated module 100 horizontal, lock the pitch angle of the acoustic-optic integrated module 100 at 0°, and lower the acoustic-optic integrated module 100 from the wellhead toward a fixed direction by fixing the telescopic rod 200 until the pipeline and the two side walls are visible. If there is no branch pipe in this direction, lower the acoustic-optic integrated module 100 to the bottom of the well; (2) If the pipeline has a slope, the data acquisition and calculation unit 500 controls the power supply and communication control unit 300 to output an adjustment signal to the steering gear 130 according to the slope, and the steering gear 130 adjusts the pitch angle of the acoustic and optical integrated module 100 according to the adjustment signal.

[0045] Specifically, in this embodiment, the PipeSQV pipeline sonar periscope acquisition software includes: a steering engine and a lighting control module, which can exchange data with the steering engine 130 and the lighting lamp 140 through the UDP data protocol. Through the agreed control command, the button of the acquisition software in the acquisition calculation unit 500 can be clicked to trigger the steering engine 130 to control the vertical and horizontal angles of the sound and light integrated module 100, as well as the opening and closing of the optical camera 120, and the one-key zeroing of the angle. When lowering the device, the sound and light integrated module 110 is first kept horizontally installed, the pitch angle of the steering engine is locked to 0°, and the acquisition data is recorded after entering the water, that is, in a certain azimuth direction, the sound and light integrated module 100 is lowered from the wellhead toward a certain fixed direction through the fixed telescopic rod 200 until the pipeline and the two side walls are seen. If there is no pipeline in this direction, the sound and light integrated module 100 is lowered to the bottom of the well. During the lowering process, observe whether there is a branch pipe. If so, zoom in and out, turn a circle, and then lower it for observation. If the pipeline has a slope and the slope is obvious, the PipeSQV pipeline sonar periscope acquisition software is controlled to adjust the pitch angle of the servo 130, and the acquisition calculation unit 500 inputs a suitable value or clicks the up and down pitch adjustment buttons. The power supply communication control unit 300 outputs an adjustment signal to the servo 130, and the servo pan-tilt module is controlled to adjust the angle of the servo pan-tilt according to the adjustment signal, so that the underwater sonar periscope probe 110 is located in the middle of the pipeline, showing the complete two side wall directions of the pipeline in this direction, observing the length of the pipeline, and observing and recording the pipeline information at multiple azimuths before ending the acquisition.

[0046] Further, in some embodiments of the present invention, the acquisition and calculation unit 500 also includes a sonar control and display module, an optical camera control and display module, a magnetic compass direction angle display module, and a steering gear attitude angle control module; the acoustic and optical integration module 100 includes an underwater sonar periscope probe 110 and an optical camera 120; the underwater sonar periscope probe 110 is provided with a sonar, a magnetic compass and an attitude meter; step S200: the acoustic and optical integration module 100 acquires the first sonar image information and the first image information, and obtains the orientation information and attitude information of the acoustic and optical integration module, including: (1) The sonar control and display module controls the sonar to turn on, and the optical camera control and display module controls the optical camera 120 to turn on; (2) The magnetic compass direction angle display module obtains and displays the orientation information of the underwater sonar periscope probe 110, and the steering gear attitude angle control module obtains and displays the attitude information of the underwater sonar periscope probe 110; (3) When the acoustic-optical integrated module 100 is lowered into the well chamber, the branch pipe is detected, and the acoustic-optical integrated module 100 is rotated one circle with the fixed telescopic rod 200 as the axis, and the acoustic-optical integrated module 100 is continued to be lowered toward a fixed direction; (4) When the acoustic-optical integrated module 100 is lowered into the well chamber and reaches the bottom of the well, the fixed direction of the acoustic-optical integrated module 100 is changed, and the acoustic-optical integrated module 100 is lifted along the fixed direction. If the acoustic-optical integrated module 100 detects a branch pipe during the lifting process, the acoustic-optical integrated module 100 is rotated one circle with the fixed telescopic rod 200 as the axis; (5) When the acoustic-optical integrated module 100 reaches the water surface, the direction of the acoustic-optical integrated module 100 is changed again, and the process is repeated several times. The underwater sonar periscope probe 110 collects the first sonar image information, and the optical camera 120 collects the first image information.

[0047] Specifically, in this embodiment, the PipeSQV pipeline sonar periscope acquisition software includes: a sonar control and display module, an optical camera control and display module, a magnetic compass direction angle display module, and a steering gear attitude angle control module, wherein the sound and light integration module is used to: after the sonar is connected, the sonar starts to work, and the data and commands are mutually transmitted with the sonar through the UDP and TCP / IP protocols, so that the PipeSQV pipeline sonar periscope acquisition software displays the sonar image and other information, and controls the sonar transmission frequency, range, gain and other parameters. The optical camera control and display module uses the RTSP streaming media protocol to pull image data. After the software is turned on, this module automatically pulls data. If there is the second image information or the first image information data of the optical camera 120, it is directly displayed. If there is no second image information or the first image information data of the optical camera 120, the data is repeatedly pulled periodically. In addition, the hardware of the magnetic compass direction angle display module is a magnetic compass, which is embedded in the sonar. When connected to the sonar, the background and the first sonar image information are uploaded to the message of the acquisition and calculation unit 500 via the power supply communication control unit 300.

[0048] In this embodiment, step (3), step (4) and step (5) are specifically as follows: first, the sonar device is started and data is stored at the same time, and the acoustic-optical integrated module 100 is lowered from the water surface of the wellhead in one direction for measurement. During the measurement process, when a branch pipe is encountered, the device stops and performs a 360° full-range scan at the branch pipe, and returns to the original measurement direction after completion and continues downward. When the sonar device reaches the bottom of the well, it rotates 90° clockwise (or counterclockwise) and starts to lift and recover the fixed telescopic rod 200 for measurement. During the upward measurement process, when a branch pipe is encountered again, the sonar device is rotated again to perform a 360° full-range scan, and returns to the original measurement direction after completion and continues upward. When the device reaches the top of the well, the upward measurement is stopped. After the device reaches the top of the well, it rotates 90° again (in the direction of the first rotation) to start the second round of downward measurement. During the process, a 360° scan is also performed when a branch pipe is encountered. Repeat the above process. Generally, one well chamber covers four directions, and four up and down measurements are completed to ensure a comprehensive scan of the well chamber in all directions. Thus, through the continuous sonar image acquisition process, a plan view of the pipe connection in the well can be formed in the PipeSQV pipeline sonar periscope acquisition software. Alternatively, the acoustic and optical integrated module 100 can be used to detect the orientation and number of branch pipe connections in the well chamber, and then the acoustic and optical integrated module 100 can be rotated one circle with the fixed telescopic rod 200 as the axis facing the middle of each branch pipe, and the underwater sonar periscope probe 110 and the optical camera 120 can respectively collect the first sonar image information.

[0049] Further, in some embodiments of the present invention, the acquisition and calculation unit 500 also includes a module for creating and opening a pipe-well connection project, a downhole information input module, a branch pipe connection information input module, and a well branch pipe connection information export module; the sound and light integration module 100 includes a steering gear 130; step S400: the acquisition and calculation unit 500 adjusts the pitch angle and roll angle of the sound and light integration module 100, obtains and displays the second sonar image information, the second image information, the orientation information and the attitude information, and generates a plane overview of the pipe-well connection information according to the second sonar image information, including: (1) The acquisition calculation unit 500 outputs a roll angle and a pitch angle adjustment signal to the steering engine 130 through the power supply communication control unit 300. The steering engine 130 adjusts the roll angle and the pitch angle of the acoustic-optical integrated module 100 according to the roll angle and the pitch angle adjustment signal, and further acquires the first sonar image information; (2) The power supply communication control unit 300 converts the first sonar image information into the second sonar image information and outputs it to the acquisition and calculation unit 500; (3) the sonar control and display module controls the acquisition and display of the second sonar image information, and the optical camera control and display module acquires and displays the second image information; (4) Create and open the pipe well connection project module to enter the project information; (5) The downhole information input module inputs downhole information; (6) The branch pipe connection information input module inputs the branch pipe connection information; (7) The well branch pipe connection information export module edits the engineering information, downhole information and branch pipe connection information, exports the table, and generates a plan overview of the well pipe connection information based on the second sonar image information and branch pipe connection information.

[0050] Specifically, in this embodiment, the main functions of the downhole information entry module include six shortcut buttons: new project, open project, new well, new branch pipe, screenshot, view and export data, and a key information display table. Clicking the new project button will open the new project dialog box, in which you need to enter the project directory, project name, road name / number, detection time, detection location, detection personnel, and detection unit. The software saves these data into a database for subsequent other data processing. The open project button opens the already built project, and there is no need to configure the project information. The software directly imports the database file in the project to continue editing this project. Click the new well button to enter information related to the detection well, such as well number, well type, number of connecting pipes, manhole cover, wellbore, well chamber and other related information. Click the new branch pipe button to enter the currently measured branch pipe information, such as branch pipe number, orientation, pipe diameter, buried depth, material, pipe length, flow height, deposition thickness, etc. Click the screenshot button to save the entire software interface to the corresponding folder, and save it in *.png format in sequence. Click the View and Export Data button, you can select the *.db file saved in the project folder you want to view, and view all the information in this project. You can also directly modify each parameter in the database in this interface, and click Save to synchronize the update to the database. Click the Export as Picture button to select the *.dat sonar image data saved during acquisition to generate a well pipeline connection plan. Click Export to Table to save the selected *.db database file as a *.xlsx file. For step (7) of this embodiment, the well branch connection information export module generates a plan overview of the pipe-well connection information based on the second sonar image information, refer to Figure 5 , which is a schematic diagram of the overall process of realizing the function of "generating a well pipeline connection plan with one key" according to the second sonar image information. When processing the second sonar data, the saved second sonar image data is first bound, and then it is determined whether the second sonar image data contains the start frame and the end frame. If so, the second sonar image data and the magnetic sensor data in the magnetic compass are parsed and the sonar image processing and stitching algorithm is executed. When all the second sonar image data are processed to the end frame, the following is generated. Figure 7 An example of a plan view of the pipeline connection information.

[0051] Further, in some embodiments of the present invention, the engineering information includes: project information, engineering name, road name or number, inspection time, inspection location, inspection personnel, and inspection unit information; The underground information includes: well number, type, manhole cover size, material and status, well chamber size, material and well depth, water depth and mud depth in the well, number of branch pipes, form and size information of interception facilities, project path, name, well number, number of connecting pipes, current branch pipe number and azimuth, current screenshot path and number of stored pictures; Branch connection information includes: branch number, pipe diameter, material, azimuth, burial depth, pipe length, branch attributes and flow direction information.

[0052] Furthermore, in some embodiments of the present invention, the following steps are also included: (1) The acquisition and calculation unit 500 outputs a roll angle adjustment signal to the acoustic and optical integration module 100 through the power supply communication control unit 300. The acoustic and optical integration module 100 adjusts its own roll angle according to the roll angle adjustment signal to further acquire sonar image information; (2) Power supply The communication control unit 300 converts the sonar image information and outputs it to the acquisition and calculation unit 500 .

[0053] Specifically, in this embodiment, step (1) is as follows: numbering and naming the branch pipes connected in the well, taking screenshots to save clear sonar images, and then controlling the steering engine 130 to rotate the sound and light integrated module 100 to a roll angle of 90°, such as Figure 3 As shown in the image on the right, observe and measure the depth from the water surface to the bottom of the well, the height of the well chamber, and the material, and measure the remaining flow height of the pipeline orifice, so as to supplement the input information of the well chamber and branch pipes and provide basic data for the implementation of pipeline detection.

[0054] In this embodiment, step (2) is specifically as follows: the power supply communication control unit 300 converts and outputs the sonar information to the acquisition and calculation unit 500, supplements the input information of the well chamber and the branch pipe, and the supplementary information includes: the depth from the water surface to the bottom of the well, the well chamber height, the material, and the remaining flow height of the pipeline mouth, so as to provide basic data for the implementation of pipeline detection. Then, the recovery equipment is lifted up, and after the various parts are disassembled and connected, the underwater sound and light integrated module and the fixing rod are wiped and cleaned, and then packed and stored.

[0055] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. An underwater sonar periscope system, characterized in that: include: An acoustic-optical integrated module, the acoustic-optical integrated module is used to collect first sonar image information and first image information; the acoustic-optical integrated module is also used to obtain orientation information and posture information of the acoustic-optical integrated module; A fixed telescopic rod, one end of which is connected to the acoustic-optical integrated module structure; A power supply communication control unit, the power supply communication control unit is electrically connected to the acoustic-optical integrated module, the power supply communication control unit is also electrically connected to a power source, the power supply communication control unit is used to convert the first sonar image information into second sonar image information, and the power supply communication control unit is also used to convert the first image information into second image information; An acquisition and calculation unit, wherein the acquisition and calculation unit is electrically connected to the power supply and communication control unit, and the acquisition and calculation unit is used to acquire and display the second sonar image information, the second image information, the orientation information and the posture information. The acquisition and calculation unit is also used to adjust the pitch angle and roll angle of the acoustic and optical integrated module, and the acquisition and calculation unit is also used to generate a plan overview of the pipe well connection information according to the second sonar image information.

2. The underwater sonar periscope system according to claim 1, characterized in that: The acousto-optic integrated module comprises: A fixing frame, the fixing frame being connected to the fixed telescopic rod structure; An underwater sonar periscope probe, used for collecting the first sonar image information, the underwater sonar periscope probe is provided with a sonar, the underwater sonar periscope probe is electrically connected to the power supply and communication control unit, and the underwater sonar periscope probe is connected to the fixing frame structure; An optical camera, used for collecting the first image information, the optical camera is electrically connected to the power supply communication control unit, and the optical camera is connected to the fixing frame structure; A steering gear is connected to the fixed frame structure, the optical camera and the underwater sonar periscope probe are both connected to the steering gear structure, and the steering gear is electrically connected to the power supply and communication control unit.

3. The underwater sonar periscope system according to claim 2, characterized in that: The acousto-optic integrated module also includes: A lighting lamp, wherein the lighting lamp is connected to the fixing frame structure, and the lighting lamp is electrically connected to the power supply communication control unit.

4. The underwater sonar periscope system according to claim 2, characterized in that: The acousto-optic integrated module also includes: A magnetic compass, which is built into the underwater sonar periscope probe and is used to obtain the orientation information; An attitude meter is built into the underwater sonar periscope probe, and is used to obtain the attitude information.

5. The underwater sonar periscope system according to claim 1, characterized in that: Also includes: A retractable bottoming rod, which is structurally connected to the fixed retractable rod, is used to adjust the height of the acoustic-optical integrated module.

6. An underwater sonar detection method, applied to the underwater sonar periscope system according to any one of claims 1 to 5, characterized in that: The following steps are involved: Lower the sound and light integrated module to the pipe opening by fixing the telescopic rod; The acoustic-optical integrated module collects the first sonar image information and the first image information, and obtains the orientation information and the posture information of the acoustic-optical integrated module; The power supply communication control unit converts the first sonar image information into second sonar image information, and the power supply communication control unit also converts the first image information into second image information; The acquisition and calculation unit adjusts the pitch angle and roll angle of the acoustic and optical integrated module, obtains and displays the second sonar image information, the second image information, the orientation information and the posture information, and generates a plan overview of the pipe-well connection information according to the second sonar image information.

7. The underwater sonar detection method according to claim 6, characterized in that: The acquisition and calculation unit includes a steering gear and a lighting control module; the method of lowering the sound and light integrated module to the pipe opening by fixing the telescopic rod includes: Keep the sound and light integrated module horizontal, lock the pitch angle of the sound and light integrated module to 0°, and lower the sound and light integrated module from the wellhead toward a fixed direction through the fixed telescopic rod until the pipeline and the two side walls are seen. If there is no branch pipe in this direction, lower the sound and light integrated module to the bottom of the well; If the pipeline has a slope, according to the slope, the power supply communication control unit is controlled by the acquisition and calculation unit to output an adjustment signal to the steering gear, and the steering gear adjusts the pitch angle of the acoustic and optical integrated module according to the adjustment signal.

8. The underwater sonar detection method according to claim 7, characterized in that: The acquisition and calculation unit also includes a sonar control and display module, an optical camera control and display module, a magnetic compass direction angle display module, and a steering gear attitude angle control module; the acoustic and optical integration module includes the underwater sonar periscope probe and the optical camera; the underwater sonar periscope probe is provided with a sonar, a magnetic compass and an attitude meter; the acoustic and optical integration module acquires the first sonar image information and the first image information, and obtains the orientation information and attitude information of the acoustic and optical integration module, including: The sonar control and display module controls the sonar to be turned on, and the optical camera control and display module controls the optical camera to be turned on; The magnetic compass direction angle display module obtains and displays the orientation information of the underwater sonar periscope probe, and the steering gear attitude angle control module obtains and displays the attitude information of the underwater sonar periscope probe; When the acousto-optic integrated module is lowered in the well chamber and a branch pipe is detected, the acousto-optic integrated module is rotated one circle with the fixed telescopic rod as the axis, and the acousto-optic integrated module is continuously lowered toward the fixed direction; When the acoustic-optical integrated module is lowered into the well chamber and reaches the bottom of the well, the fixed direction of the acoustic-optical integrated module is changed, and the acoustic-optical integrated module is lifted along the fixed direction. If the acoustic-optical integrated module detects a branch pipe during the lifting process, the acoustic-optical integrated module is rotated one circle with the fixed telescopic rod as the axis. When the acoustic-optical integrated module reaches the water surface, the direction of the acoustic-optical integrated module is changed again, and the process is repeated several times. The underwater sonar periscope probe collects the first sonar image information, and the optical camera collects the first image information.

9. The underwater sonar detection method according to claim 8, characterized in that: The acquisition and calculation unit also includes a module for creating and opening a pipe-well connection project, a downhole information input module, a branch pipe connection information input module, and a well branch pipe connection information export module; the sound and light integration module includes a steering gear; the acquisition and calculation unit adjusts the pitch angle and roll angle of the sound and light integration module, obtains and displays the second sonar image information, the second image information, the orientation information and the attitude information, and generates a plane overview of the pipe-well connection information according to the second sonar image information, including: The acquisition calculation unit outputs a roll angle and a pitch angle adjustment signal to the steering gear through the power supply communication control unit, and the steering gear adjusts the roll angle and the pitch angle of the acoustic and optical integrated module according to the roll angle and the pitch angle adjustment signal to further acquire the first sonar image information; The power supply communication control unit converts the first sonar image information into second sonar image information and outputs the second sonar image information to the acquisition and calculation unit; The sonar control and display module controls the acquisition and display of the second sonar image information, and the optical camera control and display module acquires and displays the second image information; The newly-built and opened pipe well connection engineering module enters engineering information; The downhole information input module inputs downhole information; The branch pipe connection information input module inputs branch pipe connection information; The well branch pipe connection information export module edits the engineering information, downhole information and the branch pipe connection information, exports a table, and generates a plan overview of the pipe-well connection information based on the second sonar image information and the branch pipe connection information.

10. The underwater sonar detection method according to claim 9, characterized in that: The engineering information includes: project information, engineering name, road name or number, inspection time, inspection location, inspection personnel, and inspection unit information; The underground information includes: well number, type, manhole cover size, material and status, well chamber size, material and well depth, water depth and mud depth in the well, number of branch pipes, form and size information of interception facilities, project path, name, well number, number of connecting pipes, current branch pipe number and azimuth, current screenshot path and number of stored pictures; The branch pipe connection information includes: branch pipe number, pipe diameter, material, azimuth, burial depth, pipe length, branch pipe attributes and flow direction information.

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