Control system and method of underground hydrogen storage pipeline defect coating machine

Abstract

The invention relates to the field of pipeline engineering maintenance, and discloses a control system and method for an underground hydrogen storage pipeline defect coating machine, and the system comprises an advanced positioning system, a self-adaptive coating system, a coating quality sensing system, a transmission communication system, a visualization device, a movement device, an anchoring device, a centralizing device, a feeding device, a coating device, and an armored cable. The real-time position of a coating machine is locked by adopting an inertial measurement device, error state Kalman filtering and an ultra wide band positioning node, a self-adaptive coating system is used for replacing semi-automatic operation, and the gluing quality of the machine is monitored by adopting a multispectral sensor, a data acquisition and processing unit and an AI analysis engine. In the whole process, real-time communication with a remote upper computer is carried out through cooperation of an armored cable and wireless, the problem of positioning drift caused by an underground GPS-free environment in the prior art is solved, intelligent scheduling and working efficiency of coating operation are improved, controllable gluing quality is achieved, and man-machine interaction and remote control are achieved.

Description

Technical Field

[0001] The present invention relates to the field of pipeline engineering maintenance, and in particular to a control system and method for a defect coating machine for underground hydrogen storage pipelines. Background Art

[0002] Hydrogen is a widely used, clean and safe energy carrier that can be used as a power fuel or industrial raw material. At present, the world's major developed economies have raised the use of hydrogen energy to the level of national strategy and formulated long-term research and development plans at the national level. In order for hydrogen energy to realize its potential to contribute significantly to net zero emissions, it must be stored on a large scale. Among the many storage technologies, underground hydrogen storage technology has received widespread attention due to its large hydrogen storage scale and low overall cost.

[0003] Although large-scale underground hydrogen storage has broad application prospects, hydrogen can easily cause hydrogen blistering, hydrogen embrittlement, and hydrogen cracks in steel during the injection and extraction process of underground hydrogen storage due to its active chemical properties. Hydrogen can even accumulate at the defective position under the metal surface, causing strong internal pressure near the defect and plastic deformation, resulting in damage to the downhole casing connection, which in turn causes hydrogen to leak from the downhole casing connection. This not only wastes resources, but may also bring safety risks to personnel and the environment, causing safety accidents. Existing underground hydrogen storage pipeline defect repair technology mainly relies on manual or semi-automatic equipment, and has the following technical bottlenecks: the positioning drift of the coating machine caused by the lack of GPS in the underground environment makes it difficult to accurately cover the defective area; the semi-automatic machine operation lacks intelligent scheduling, has a high risk of collision, and has low efficiency in task allocation; it relies on manual sampling, the quality of the glue coating is uncontrollable, and the coating thickness, curing degree, and internal defects cannot be perceived in real time.

[0004] Therefore, in response to the above problems, it is necessary to invent an advanced control system and method for an underground hydrogen storage pipeline defect coating machine. The control system aims to solve the problems existing in the existing underground hydrogen storage pipeline defect repair technology and provide a more reliable and efficient solution for the automated control of the underground hydrogen storage pipeline defect coating machine.

[0005] The invented control system and method for an underground hydrogen storage pipeline defect coating machine need to solve the following existing problems:

[0006] 1. The existing unified control system lacks an advanced positioning system. The existing underground hydrogen storage pipeline defect repair device has no GPS signal in the underground hydrogen storage pipeline, and the traditional inertial navigation will cause the machine positioning drift due to the accumulated error, especially in the bends and variable diameter sections, and the error is aggravated, and the defect area cannot be accurately covered, which greatly reduces the accuracy of the repair work.

[0007] 2. The existing unified control system lacks an adaptive coating control system. The existing semi-automatic multi-machine operation coordination efficiency is low, the scheduling relies on the central controller, there is a single point failure risk, and it is impossible to achieve real-time response to dynamic tasks such as sudden defects. The intelligence of the equipment is not enough. In the face of large-scale underground hydrogen storage pipeline repair, the efficiency of the operation cannot be guaranteed.

[0008] 3. The existing unified control system lacks a non-contact coating quality perception system. The existing contact thickness gauge requires shutdown for detection, which is inefficient and may scratch the coating. The manual camera inspection has a high leak detection rate and cannot detect bubbles or interface peeling inside the coating, thus failing to ensure the quality of the coating and increasing the workload of rework and repair. Summary of the invention

[0009] The purpose of the present invention is to propose a control system and method for coating defects in underground hydrogen storage pipelines in response to the problems existing in the current domestic underground hydrogen storage pipeline defect repair technology in terms of accurate positioning, adaptive coating, and coating quality detection. The real-time position of the coating machine is locked through multi-faceted corrections by an inertial measurement device, an error state Kalman filter, and an ultra-wideband positioning node; the coating machine core controller cooperates with the visual processing system to control the operating device to adaptively detect intelligent defects and repair pipeline defects; the coating quality is judged by a multi-spectral sensor, a data acquisition and processing unit, and an AI analysis engine, and the coating operation device responds to the coating operation device in microseconds, and the real-time data is continuously updated for coating operations until the coating quality is qualified; the whole process transmission communication system communicates with the remote host computer in real time through an armored cable in conjunction with wireless to achieve remote monitoring and operation by the operator. The present invention aims to solve the problems in traditional technologies such as the positioning drift of the coating machine caused by the lack of GPS in the underground environment, the difficulty in accurately covering the defective area, the lack of intelligent scheduling of the coating operation, the uncontrollable quality of the glue coating, and the inability to perceive the coating status in real time.

[0010] In order to achieve the above object, the technical solution adopted in the present invention is:

[0011] An underground hydrogen storage pipeline defect coating control system, characterized in that: the control system includes an advanced positioning system, an adaptive coating system, a coating quality sensing system, a transmission communication system, a visualization device, a motion device, an anchoring device, a straightening device, a feeding device, a coating device and an armored cable;

[0012] The advanced positioning system is a multimodal fusion positioning system, including a high-precision inertial measurement device, an ultra-wideband positioning base station, an error state Kalman filter controller, a digital twin model comparison device and an error compensation algorithm controller, wherein the high-precision inertial measurement device is composed of a three-axis accelerometer, a three-axis gyroscope and a magnetometer, wherein the digital twin model comparison device is composed of a pre-stored pipeline CAD drawing and a local point cloud map constructed in real time by SLAM, and the above devices are connected with armored cables;

[0013] The adaptive coating system includes a visual processing system, an edge computing unit controller, a multi-axis servo controller, a pressure sensor, a laser rangefinder, a motor and a PID controller. The adaptive coating system completes the intelligent logic control of the visualization device, the motion device, the anchoring device, the straightening device, the feeding device and the coating device. The above devices are connected with armored cables;

[0014] The coating quality perception system is a non-contact coating quality perception system, including a multi-spectral sensor, a data acquisition and processing unit controller, an AI analysis engine and a feedback control interface, wherein the multi-spectral sensor is composed of a terahertz imaging unit, a laser induced fluorescence system, an infrared thermal imager and a multi-angle optical probe, and the above devices are connected with armored cables;

[0015] The transmission communication system includes a coating machine core controller, a wellhead control console, a local signal receiving device, a local signal processing circuit, a local signal transmitting device, a remote signal receiving device, a remote signal processing circuit, a remote signal transmitting device and a remote host computer, wherein the coating machine core controller is connected to the wellhead control console via an armored cable, the wellhead control console is wirelessly connected to the remote host computer, the local signal receiving device, the local signal processing circuit and the local signal transmitting device are all connected by armored cables, the local signal transmitting device is wirelessly connected to the remote signal receiving device, the remote signal receiving device, the remote signal processing circuit and the remote signal transmitting device are all connected by cables, and the remote signal transmitting device is wirelessly connected to the local signal receiving device;

[0016] The visualization device is composed of three groups of static cameras, a structured light binocular stereo vision sensor, an optical auxiliary positioning device and a distributed multi-probe fiber optic ultrasonic sensor. The anchoring device uses rubber pads to squeeze the pipe wall to fix the fuselage, the feeding device uses a dragon plate to roll and convey the paint, and the paint device uses an internal meshing gear and an electromagnetic ejection roller to achieve 360-degree back and forth rotation and coating.

[0017] The present invention also provides a specific process of using a method of controlling the defect coating of an underground hydrogen storage pipeline, which comprises the following steps:

[0018] S1: Position lock control

[0019] S101: When the coating machine enters the underground hydrogen storage pipeline, the high-precision inertial measurement device collects the current raw data, including the linear acceleration, angular velocity and direction angle of the machine motion device, provides continuous posture estimation, and predicts the current posture based on the state at the previous moment through the error state Kalman filter controller, and outputs the predicted posture;

[0020] S102: The visualization device extracts pipeline features (such as pipeline welds, flanges and other feature points) in the current image, performs ICP registration with corresponding features in the digital twin model comparison device, generates posture corrections, and performs visual correction;

[0021] S103: When the coating machine enters the coverage area of ​​the ultra-wideband positioning base station, the global absolute position is solved by the least square method, and then the posture deviation between the predicted posture and the global absolute position is calculated to perform anchor correction;

[0022] S104: inputting the observation data of the visualization device and the ultra-wideband positioning base station into the error state Kalman filter controller to perform a measurement update step, calculate the Kalman gain, and obtain the optimal estimated posture;

[0023] S105: Compare the fused posture with the pre-stored pipeline model in the digital twin model comparison device. If the deviation exceeds the threshold, trigger the error compensation algorithm controller to generate a reverse correction signal and iteratively optimize the positioning result;

[0024] S2: Coating operation control

[0025] S201: After each positioning is completed, the visualization device cooperates with the visual processing system to determine whether there are defects in the pipeline. If no defects are found in the pipeline, the motor drives the motion device to continue to move forward. During the movement, the visualization device transmits the scanned pipeline status to the remote host computer in real time through the transmission communication system for recording;

[0026] S202: If defects are found in the pipeline, the multi-axis servo controller controls the anchoring device to fix the fuselage, the laser rangefinder cooperates with the straightening device to make the coating device parallel to the pipe wall, the PID controller in the feeding device controls the speed of the Jiaolong disk in real time to feed the material, the edge computing unit controller controls the coating device to operate according to the actual situation, and the pressure sensor feeds back the pressure parameters in real time;

[0027] S203: After the coating operation is completed, the visualization device cooperates with the visual processing system to collect various status data of the repaired pipe wall. The processed image data is first transmitted from the coating machine core controller to the wellhead control console through the armored cable through the transmission communication system, and then transmitted to the remote host computer through wireless communication to realize remote real-time monitoring of the operation status. It can also communicate in the reverse direction to realize remote control of the coating machine by the remote host computer;

[0028] S3: Coating Perception Control

[0029] S301: After the initial repair of the pipeline, the terahertz imaging unit in the multispectral sensor detects the coating thickness and internal defects (such as bubbles, delamination, etc.), the laser induced fluorescence system detects the coating curing degree and chemical bonding state, the infrared thermal imager generates the temperature field distribution of the coating process, and the multi-angle optical probe enhances the capture of coating surface texture features (such as cracks, glue overflow, etc.);

[0030] S302: The detection data is transmitted to the data acquisition and processing unit controller for signal preprocessing and integration of coating status. The AI ​​analysis engine combines the input thickness distribution, spectral characteristics and temperature gradient to judge the coating quality. The judgment result is output by the feedback control interface, and the bus controls the opening of the glue valve in real time;

[0031] S303: The core controller of the coating machine receives the feedback signal, responds to the coating operation device in microseconds, and dynamically adjusts the pressure, speed, and temperature parameters of the coating. The visualization device cooperates with the visual processing system to monitor the various states of the pipe wall after the secondary repair, and continuously updates the real-time data for coating operations until the coating quality is qualified.

[0032] After adopting the above technical solution, the present invention has the following beneficial effects:

[0033] 1. The present invention uses an inertial measurement device, an error state Kalman filter and an ultra-wideband positioning node to correct and lock the real-time position of the coating machine in multiple aspects, effectively solving the problem that the traditional inertial navigation will cause the positioning drift of the machine due to the cumulative error caused by the lack of GPS signals in the underground hydrogen storage pipeline, so that the defective area is accurately covered, thereby greatly improving the accuracy of the repair operation.

[0034] 2. The present invention uses the coating machine core controller to cooperate with the visual processing system to control the operating device to adaptively intelligently detect defects and repair pipeline defects, effectively solving the problems of low efficiency in multi-machine operation collaboration and scheduling dependence on the central controller, and can achieve real-time response to dynamic tasks, greatly improving the intelligence of the machine and ensuring the efficiency of the operation.

[0035] 3. The present invention determines the glue coating quality through multi-spectral sensors, data acquisition and processing units and AI analysis engines, responds to the coating operation device in microseconds, and continuously updates real-time data to perform coating operations until the glue coating quality is qualified. The glue coating quality is controllable and the coating status is perceptible. At the same time, the whole process transmission communication system communicates with the remote host computer in real time through armored cables and wireless, realizing human-computer interaction and remote control. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a general schematic diagram of the system of the present invention;

[0037] Figure 2 This is a schematic diagram of the position locking principle of the present invention;

[0038] Figure 3 This is a schematic diagram of the adaptive coating principle of the present invention;

[0039] Figure 4 This is a schematic diagram of the coating quality perception principle of the present invention;

[0040] Figure 5 The schematic diagram of the transmission communication system of the present invention;

[0041] Figure 6 It is the overall process principle diagram of the present invention; DETAILED DESCRIPTION

[0042] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0044] like Figure 1 As shown, a control system for an underground hydrogen storage pipeline defect coating machine is provided, characterized in that: the control system includes an advanced positioning system, an adaptive coating system, a coating quality sensing system, a transmission communication system, a visualization device, a motion device, an anchoring device, a straightening device, a feeding device, a coating device and an armored cable (not marked, used to connect the devices);

[0045] like Figure 2 As shown, in the advanced positioning system, the high-precision inertial measurement device collects the current raw data, predicts the current posture based on the state at the previous moment through the error state Kalman filter controller, outputs the predicted posture, and the visualization device extracts the pipeline features in the current image to perform local posture correction. The ultra-wideband positioning base station performs global error correction, and the fused posture output is compared with the pre-stored pipeline model in the digital twin model comparison device. If the deviation exceeds the threshold, the error compensation algorithm controller is triggered to generate a reverse correction signal, and the positioning result is iteratively optimized;

[0046] like Figure 3As shown, in the adaptive coating system, the visualization device cooperates with the visual processing system to determine whether there are defects in the pipeline. If no defects are found in the pipeline, the motor drives the motion device to continue to move forward. If defects are found in the pipeline, the anchoring device fixes the fuselage, the straightening device makes the coating device parallel to the pipe wall, the feeding device controls the speed of the dragon plate in real time to feed the material, the coating device operates, the coating quality perception system judges the coating quality, and the data is fed back to the adaptive coating system through the transmission communication system;

[0047] like Figure 4 As shown, in the coating quality perception system, the multispectral sensor detects the coating thickness and internal defects, and the detection data is transmitted to the data acquisition and processing unit controller to extract and fuse the pipeline characteristics. The AI ​​analysis engine combines the input data to judge the coating quality, and the feedback control interface outputs the judgment result. The coating machine core controller receives the feedback signal and responds to the coating operation device in microseconds until the coating quality is qualified;

[0048] like Figure 5 As shown, in the transmission communication system, the core controller of the coating machine is transmitted to the wellhead control console through an armored cable, the remote signal receiving device receives the communication signal transmitted by the local signal transmitting device, and the remote signal processing circuit filters, amplifies and processes the communication to prevent distortion of the communication signal; similarly, the local signal receiving device processes the communication signal from the remote signal transmitting device. In summary, the wellhead control console can transmit information to the remote host computer through wireless communication to realize remote real-time monitoring of the operation status, and can also communicate in the reverse direction to realize remote control of the coating machine by the remote host computer.

[0049] Specifically, the method for using the control system of the underground hydrogen storage pipeline defect coating machine of the present invention is as follows:

[0050] S1: Position lock control

[0051] S101: When the coating machine enters the underground hydrogen storage pipeline, the high-precision inertial measurement device collects the current raw data, including the linear acceleration, angular velocity and direction angle of the machine motion device, provides continuous posture estimation, and predicts the current posture based on the state at the previous moment through the error state Kalman filter controller, and outputs the predicted posture;

[0052] S102: The visualization device extracts pipeline features (such as pipeline welds, flanges and other feature points) in the current image, performs ICP registration with corresponding features in the digital twin model comparison device, generates posture corrections, and performs visual correction;

[0053] S103: When the coating machine enters the coverage area of ​​the ultra-wideband positioning base station, the global absolute position is solved by the least square method, and then the posture deviation between the predicted posture and the global absolute position is calculated to perform anchor correction;

[0054] S104: inputting the observation data of the visualization device and the ultra-wideband positioning base station into the error state Kalman filter controller to perform a measurement update step, calculate the Kalman gain, and obtain the optimal estimated posture;

[0055] S105: Compare the fused posture with the pre-stored pipeline model in the digital twin model comparison device. If the deviation exceeds the threshold, trigger the error compensation algorithm controller to generate a reverse correction signal and iteratively optimize the positioning result;

[0056] S2: Coating operation control

[0057] S201: After each positioning is completed, the visualization device cooperates with the visual processing system to determine whether there are defects in the pipeline. If no defects are found in the pipeline, the motor drives the motion device to continue to move forward. During the movement, the visualization device transmits the scanned pipeline status to the remote host computer in real time through the transmission communication system for recording;

[0058] S202: If defects are found in the pipeline, the multi-axis servo controller controls the anchoring device to fix the fuselage, the laser rangefinder cooperates with the straightening device to make the coating device parallel to the pipe wall, the PID controller in the feeding device controls the speed of the Jiaolong disk in real time to feed the material, the edge computing unit controller controls the coating device to operate according to the actual situation, and the pressure sensor feeds back the pressure parameters in real time;

[0059] S203: After the coating operation is completed, the visualization device cooperates with the visual processing system to collect various status data of the repaired pipe wall. The processed image data is first transmitted from the coating machine core controller to the wellhead control console through the armored cable through the transmission communication system, and then transmitted to the remote host computer through wireless communication to realize remote real-time monitoring of the operation status. It can also communicate in the reverse direction to realize remote control of the coating machine by the remote host computer;

[0060] S3: Coating Perception Control

[0061] S301: After the initial repair of the pipeline, the terahertz imaging unit in the multispectral sensor detects the coating thickness and internal defects (such as bubbles, delamination, etc.), the laser induced fluorescence system detects the coating curing degree and chemical bonding state, the infrared thermal imager generates the temperature field distribution of the coating process, and the multi-angle optical probe enhances the capture of coating surface texture features (such as cracks, glue overflow, etc.);

[0062] S302: The detection data is transmitted to the data acquisition and processing unit controller for signal preprocessing and integration of coating status. The AI ​​analysis engine combines the input thickness distribution, spectral characteristics and temperature gradient to judge the coating quality. The judgment result is output by the feedback control interface, and the bus controls the opening of the glue valve in real time;

[0063] S303: The core controller of the coating machine receives the feedback signal, responds to the coating operation device in microseconds, and dynamically adjusts the pressure, speed, and temperature parameters of the coating. The visualization device cooperates with the visual processing system to monitor the various states of the pipe wall after the secondary repair, and continuously updates the real-time data for coating operations until the coating quality is qualified.

[0064] The above description is not intended to impose any form of limitation on the present invention. Although the present invention has been disclosed through the above embodiments, it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to the same effective embodiments using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, same change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the scope of the technical solution of the present invention.

Claims

1. A control system for an underground hydrogen storage pipeline defect coating machine, characterized in that: The control system includes an advanced positioning system, an adaptive coating system, a coating quality sensing system, a transmission communication system, a visualization device, a motion device, an anchoring device, a straightening device, a feeding device, a coating device and an armored cable; The advanced positioning system is a multimodal fusion positioning system, including a high-precision inertial measurement device, an ultra-wideband positioning base station, an error state Kalman filter controller, a digital twin model comparison device and an error compensation algorithm controller, wherein the high-precision inertial measurement device is composed of a three-axis accelerometer, a three-axis gyroscope and a magnetometer, wherein the digital twin model comparison device is composed of a pre-stored pipeline CAD drawing and a local point cloud map constructed in real time by SLAM, and the above devices are connected with armored cables; The adaptive coating system includes a visual processing system, an edge computing unit controller, a multi-axis servo controller, a pressure sensor, a laser rangefinder, a motor and a PID controller. The adaptive coating system completes the intelligent logic control of the visualization device, the motion device, the anchoring device, the straightening device, the feeding device and the coating device. The above devices are connected with armored cables; The coating quality perception system is a non-contact coating quality perception system, including a multi-spectral sensor, a data acquisition and processing unit controller, an AI analysis engine and a feedback control interface, wherein the multi-spectral sensor is composed of a terahertz imaging unit, a laser induced fluorescence system, an infrared thermal imager and a multi-angle optical probe, and the above devices are connected with armored cables; The transmission communication system includes a coating machine core controller, a wellhead control console, a local signal receiving device, a local signal processing circuit, a local signal transmitting device, a remote signal receiving device, a remote signal processing circuit, a remote signal transmitting device and a remote host computer, wherein the coating machine core controller is connected to the wellhead control console via an armored cable, the wellhead control console is wirelessly connected to the remote host computer, the local signal receiving device, the local signal processing circuit and the local signal transmitting device are all connected by armored cables, the local signal transmitting device is wirelessly connected to the remote signal receiving device, the remote signal receiving device, the remote signal processing circuit and the remote signal transmitting device are all connected by cables, and the remote signal transmitting device is wirelessly connected to the local signal receiving device; The visualization device is composed of three groups of static cameras, a structured light binocular stereo vision sensor, an optical auxiliary positioning device and a distributed multi-probe fiber optic ultrasonic sensor. The anchoring device uses rubber pads to squeeze the pipe wall to fix the fuselage, the feeding device uses a dragon plate to roll and convey the paint, and the paint device uses an internal meshing gear and an electromagnetic ejection roller to achieve 360-degree back and forth rotation and coating.

2. A method for using an underground hydrogen storage pipeline defect coating machine, characterized in that: A control system comprising the underground hydrogen storage pipeline defect coating machine of claim 1, wherein the method of using the control system comprises the steps of: S1: Position lock control S101: When the coating machine enters the underground hydrogen storage pipeline, the high-precision inertial measurement device collects the current raw data, including the linear acceleration, angular velocity and direction angle of the machine motion device, provides continuous posture estimation, and predicts the current posture based on the state at the previous moment through the error state Kalman filter controller, and outputs the predicted posture; S102: The visualization device extracts pipeline features (such as pipeline welds, flanges and other feature points) in the current image, performs ICP registration with corresponding features in the digital twin model comparison device, generates posture corrections, and performs visual correction; S103: When the coating machine enters the coverage area of ​​the ultra-wideband positioning base station, the global absolute position is solved by the least square method, and then the posture deviation between the predicted posture and the global absolute position is calculated to perform anchor correction; S104: inputting the observation data of the visualization device and the ultra-wideband positioning base station into the error state Kalman filter controller to perform a measurement update step, calculate the Kalman gain, and obtain the optimal estimated posture; S105: Compare the fused posture with the pre-stored pipeline model in the digital twin model comparison device. If the deviation exceeds the threshold, trigger the error compensation algorithm controller to generate a reverse correction signal and iteratively optimize the positioning result; S2: Coating operation control S201: After each positioning is completed, the visualization device cooperates with the visual processing system to determine whether there are defects in the pipeline. If no defects are found in the pipeline, the motor drives the motion device to continue to move forward. During the movement, the visualization device transmits the scanned pipeline status to the remote host computer in real time through the transmission communication system for recording; S202: If defects are found in the pipeline, the multi-axis servo controller controls the anchoring device to fix the fuselage, the laser rangefinder cooperates with the straightening device to make the coating device parallel to the pipe wall, the PID controller in the feeding device controls the speed of the Jiaolong disk in real time to feed the material, the edge computing unit controller controls the coating device to operate according to the actual situation, and the pressure sensor feeds back the pressure parameters in real time; S203: After the coating operation is completed, the visualization device cooperates with the visual processing system to collect various status data of the repaired pipe wall. The processed image data is first transmitted from the coating machine core controller to the wellhead control console through the armored cable through the transmission communication system, and then transmitted to the remote host computer through wireless communication to realize remote real-time monitoring of the operation status. It can also communicate in the reverse direction to realize remote control of the coating machine by the remote host computer; S3: Coating Perception Control S301: After the initial repair of the pipeline, the terahertz imaging unit in the multispectral sensor detects the coating thickness and internal defects (such as bubbles, delamination, etc.), the laser induced fluorescence system detects the coating curing degree and chemical bonding state, the infrared thermal imager generates the temperature field distribution of the coating process, and the multi-angle optical probe enhances the capture of coating surface texture features (such as cracks, glue overflow, etc.); S302: The detection data is transmitted to the data acquisition and processing unit controller for signal preprocessing and integration of coating status. The AI ​​analysis engine combines the input thickness distribution, spectral characteristics and temperature gradient to judge the coating quality. The judgment result is output by the feedback control interface, and the bus controls the opening of the glue valve in real time; S303: The core controller of the coating machine receives the feedback signal, responds to the coating operation device in microseconds, and dynamically adjusts the pressure, speed, and temperature parameters of the coating. The visualization device cooperates with the visual processing system to monitor the various states of the pipe wall after the secondary repair, and continuously updates the real-time data for coating operations until the coating quality is qualified.

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