Detection method and system for high-water-level drainage pipeline, equipment and medium

Abstract

The invention discloses a detection method and system for a high-water-level drainage pipeline, equipment and a medium, and relates to the technical field of drainage pipe network detection. The method is applied to a controller of a detection system for a high-water-level drainage pipeline, the system comprises a modular detection device electrically connected with the controller, and the modular detection device comprises a plurality of candidate detection devices; the method comprises the following steps: acquiring operation condition information of a to-be-detected drainage pipeline; working condition grading processing is carried out according to the operation working condition information and the working condition grading table to determine working condition grades; determining target detection equipment from the candidate detection equipment according to the working condition grade; determining detection control information according to the working condition grade; and controlling the target detection equipment to detect the to-be-detected drainage pipeline according to the detection control information to obtain a detection result. The detection precision and the detection efficiency of the high-water-level drainage pipeline can be improved.

Description

Technical Field

[0001] This application relates to the technical field of drainage network detection, and in particular to a detection method, system, device and medium for high-water-level drainage pipes. Background Art

[0002] The drainage system is an important part of urban infrastructure construction, and its perfection affects the treatment of urban sewage and pollution control. At present, the drainage systems of some cities have been built for a long time. With the increase in the service time, the possibility of defects in the drainage pipes of the municipal drainage network increases; and the past construction standards were relatively low, and the operating capacity of the drainage pipes is limited. With the booming development of urban industry and life, the water consumption is increasing continuously, the water level in the pipe network is rising, which further brings pressure to the operation of the drainage pipes in the urban drainage system. When the water consumption increases and the operating capacity of the drainage pipes is limited, the water level in the pipe network will rise, and the proportion of high-water-level operation of the drainage network will increase. In a complex hydraulic environment, the accuracy and efficiency of defect detection of the drainage pipes in the municipal drainage network will decline. How to achieve efficient and high-precision detection of the pipe health status of drainage pipes in a complex hydraulic environment with high water levels is a technical problem to be solved urgently. Summary of the Invention

[0003] This application aims to solve at least one of the technical problems existing in the prior art. For this purpose, this application provides a detection method, system, device and medium for high-water-level drainage pipes, which can improve the detection accuracy and detection efficiency of high-water-level drainage pipes.

[0004] In the first aspect, an embodiment of this application provides a detection method for high-water-level drainage pipes, which is applied to the controller of a detection system for high-water-level drainage pipes. Among them, the system includes: a modular detection device electrically connected to the controller, and the modular detection device includes a plurality of candidate detection devices; The method includes: Obtain the operating condition information of the drainage pipe to be detected; Perform working condition classification processing according to the operating condition information and the working condition classification table to determine the working condition level; Determine the target detection device from the candidate detection devices according to the working condition level; Determine the detection control information according to the working condition level; Control the target detection device to detect the drainage pipe to be detected according to the detection control information to obtain a detection result.

[0005] Second aspect, an embodiment of the present application provides a detection system for high water level drainage pipes, including: a controller, and a modular detection device electrically connected to the controller, where the modular detection device includes a plurality of candidate detection devices; the controller is configured to execute the detection method for high water level drainage pipes according to any one of the embodiments of the first aspect.

[0006] Third aspect, an embodiment of the present application provides an electronic device, including at least one processor and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and when the instructions are executed by the at least one processor, the at least one processor is enabled to execute the detection method for high water level drainage pipes according to any one of the embodiments of the first aspect.

[0007] Fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions for causing a computer to execute the detection method for high water level drainage pipes according to any one of the embodiments of the first aspect.

[0008] Embodiments of the present application include: The detection system for high water level drainage pipes includes: a controller, and a modular detection device electrically connected to the controller, where the modular detection device includes a plurality of candidate detection devices; during the process of detecting a high water level drainage pipe by using the detection system for high water level drainage pipes, first, operation condition information of the drainage pipe to be detected is obtained; secondly, operation condition classification processing is performed according to the operation condition information and an operation condition classification table to determine an operation condition level; automatic operation condition classification determination is performed through a preset operation condition classification table, providing a reliable reference for quickly selecting a suitable target detection device subsequently; then, a target detection device is determined from the candidate detection devices according to the operation condition level; a suitable target detection device is quickly and reliably selected through the operation condition level, thereby improving the detection efficiency and detection accuracy of the high water level drainage pipe in a high water level complex environment; then, detection control information is determined according to the operation condition level; finally, the target detection device is controlled according to the detection control information to detect the drainage pipe to be detected, and a detection result is obtained. In this way, by automatically selecting an adapted target detection device and detection control information according to the operation condition level to detect the high water level drainage pipe, the detection efficiency and detection accuracy are improved, and efficient and high-precision detection of the high water level drainage pipe is achieved. That is to say, the embodiments of the present application can improve the detection accuracy and detection efficiency of the high water level drainage pipe.

[0009] Other features and advantages of the present application will be described in the subsequent specification, and part of them will become obvious from the specification, or will be understood by implementing the present application. The objectives and other advantages of the present application can be achieved and obtained through the structures specifically pointed out in the specification and the drawings. Brief Description of the Drawings

[0010] Figure 1 is a schematic structural diagram of a detection system for high water level drainage pipes provided by an embodiment of the present application; Figure 2 is a specific structural schematic diagram of a detection system for high water level drainage pipes provided by an embodiment of the present application; Figure 3 is a schematic flowchart of a detection method for high water level drainage pipes provided by an embodiment of the present application; Figure 4 is provided by an embodiment of the present application Figure 3 specific flowchart of step S150 in; Figure 5 is a schematic hardware structure diagram of an electronic device provided by an embodiment of the present application. Detailed Description of the Embodiments

[0011] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0012] It should be understood that in the description of the present application, the orientation descriptions involved, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0013] It should be noted that although the logical order is shown in the flowchart in the description of the present application, in some cases, the steps shown or described may be executed in a different order from that in the flowchart. In the description of the present application, the meaning of several is one or more, and the meaning of multiple is two or more. The descriptions of "first" and "second" are only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0014] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application and are not intended to limit the present application.

[0015] First, the nouns involved in the present application are explained: Closed-Circuit Television (CCTV) equipment, used for monitoring.

[0016] The present application provides a detection method for high - water - level drainage pipes, a detection system for high - water - level drainage pipes, an electronic device, and a computer - readable storage medium, which relate to the technical field of drainage network detection. Among them, the method is applied to the controller of the detection system for high - water - level drainage pipes. The system includes a modular detection device electrically connected to the controller, and the modular detection device includes a plurality of candidate detection devices. The method includes: obtaining the operating condition information of the drainage pipe to be detected; performing condition classification processing according to the operating condition information and the condition classification table to determine the condition level; determining the target detection device from the candidate detection devices according to the condition level; determining the detection control information according to the condition level; and controlling the target detection device to detect the drainage pipe to be detected according to the detection control information to obtain the detection result. The present application can improve the detection accuracy and detection efficiency of high - water - level drainage pipes.

[0017] The following further elaborates on the embodiments of the present application in conjunction with the accompanying drawings.

[0018] As Figure 1 shown, Figure 1 is a schematic structural diagram of a detection system for high - water - level drainage pipes provided by an embodiment of the present application; the detection system 100 for high - water - level drainage pipes includes: a controller 110, and a modular detection device 120 electrically connected to the controller 110. The modular detection device 120 includes a plurality of candidate detection devices; the controller is used to execute the detection method for high - water - level drainage pipes provided by the embodiments of the present application.

[0019] Among them, the controller 110 is used to: obtain the operating condition information of the drainage pipe to be detected; perform condition classification processing according to the operating condition information and the condition classification table to determine the condition level; determine the target detection device from the candidate detection devices according to the condition level; determine the detection control information according to the condition level; and control the target detection device to detect the drainage pipe to be detected according to the detection control information to obtain the detection result.

[0020] As Figure 2 shown, Figure 2 is a specific structural diagram of a detection system for high - water - level drainage pipes provided by an embodiment of the present application. Specifically, the plurality of candidate detection devices included in the modular detection device 120 are: a magnetic - adsorption type CCTV device 121, a multi - band sonar array 122, a pressure sensing unit 123, and a folding air - bag plugging device 124; the modular detection device 120 further includes: a hydraulic lifting base 125 and a multi - modal data repeater 126.

[0021] Specifically, the magnetic - adsorption type CCTV device 121 is equipped with a 4K wide - angle camera, and its low - illuminance sensitivity is 0.001 Lux. The magnetic - adsorption type CCTV device 121 can firmly adsorb on the inner wall of the pipeline, keeping the camera stable during the detection process, avoiding image shaking caused by water flow impact in the pipeline or the movement of the crawler, so as to obtain clear and stable images. The pan - tilt can achieve multi - angle rotation and adjustment, enabling the camera to observe the internal situation of the pipeline in all directions, including the top, bottom, and side walls of the pipeline, to achieve comprehensive detection.

[0022] Specifically, the frequency range of the multi - band sonar array 122 is from 200 kHz to 600 kHz, and the scanning accuracy is ±1 mm. The multi - band sonar array 122 is used to emit acoustic wave signals of different frequencies under different working conditions and receive the echo signals reflected from the inner wall of the pipeline or obstacles, so as to obtain detailed information about the inside of the pipeline.

[0023] Specifically, the measurement range of the pressure sensing unit 123 is from 0 to 0.3 MPa, and the sampling rate is 100 Hz. The pressure sensing unit 123 is used to assist in flow velocity modeling under the condition of increased water level and signal attenuation caused by turbulence, improving the accuracy and reliability of flow velocity measurement and modeling.

[0024] Specifically, the pressure resistance of the foldable air - bag plugging device 124 is 0.25 MPa, and the deployment time ≤ 30 s. The foldable air - bag plugging device 124 is used to improve the equipment sealing of the modular detection device under the conditions of pressurized and over - pressure working conditions after the water level in the drainage pipeline is higher than the pipe top, ensuring that the equipment in the modular detection device will not be damaged by water ingress.

[0025] Specifically, the stroke range of the hydraulic lifting base 125 is from 0 to 80 cm, and the load - bearing capacity is 20 kg. The hydraulic lifting base 125 is used to lift the modular detection device as a whole, facilitating the adjustment of the position of the modular detection device, and enabling better detection of high - water - level drainage pipelines.

[0026] Specifically, the multi - mode data repeater 126 supports 5G / WiFi dual - mode transmission. The multi - mode data repeater 126 is used to transmit the collected data to the upper computer communicatively connected to the multi - mode data repeater for remote supervision.

[0027] The detection system for high - water - level drainage pipelines in the embodiments of the present application includes: a controller and a modular detection device electrically connected to the controller. The modular detection device includes multiple candidate detection devices; during the process of using the detection system for high - water - level drainage pipelines to detect high - water - level drainage pipelines, through the mutual cooperation of the controller and the modular detection device, the detection method for high - water - level drainage pipelines provided by the embodiments of the present application is realized, which can improve the detection accuracy and detection efficiency of high - water - level drainage pipelines.

[0028] Those skilled in the art can understand that the system structure shown in the figures does not constitute a limitation on the embodiments of the present application. It may include more or fewer components than those shown, or combine certain components, or have different component arrangements.

[0029] The system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, that is, they may be located in one place, or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0030] Those skilled in the art can understand that the system architecture and application scenarios described in the embodiments of the present application are for more clearly explaining the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art know that with the evolution of the system architecture and the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.

[0031] Based on the above system structure, various embodiments of the method for detecting high-water-level drainage pipes of the present application are proposed below.

[0032] In a first aspect, as Figure 3 shown, the method for detecting high-water-level drainage pipes can be applied to the controller of the detection system for high-water-level drainage pipes as Figure 1 shown. Among them, the detection system for high-water-level drainage pipes includes: a modular detection device electrically connected to the controller, and the modular detection device includes a plurality of candidate detection devices; the method for detecting high-water-level drainage pipes may include but is not limited to steps S110 to S150.

[0033] Step S110: Obtain the operating condition information of the drainage pipe to be detected.

[0034] Step S120: Perform condition classification processing according to the operating condition information and the condition classification table to determine the condition level.

[0035] Step S130: Determine the target detection device from the candidate detection devices according to the condition level.

[0036] Step S140: Determine the detection control information according to the condition level.

[0037] Step S150: Control the target detection device to detect the drainage pipe to be detected according to the detection control information to obtain a detection result.

[0038] Specifically, the operating condition information of the drainage pipe includes, but is not limited to, design full flow rate, water flow velocity, and internal pipe pressure. It can be understood that the operating condition information of the drainage pipe can be obtained through the collaborative work of multiple sensors; therefore, this application does not specifically limit the method of obtaining the operating condition information of the drainage pipe. This application obtains the operating condition information of the drainage pipe to be detected through step S110, laying a data foundation for subsequent determination of the condition level.

[0039] Specifically, the condition level is one of the following: the first level, the second level, and the third level. It can be understood that different condition levels correspond to different operating states inside the drainage pipe.

[0040] It can be understood that there are at least two target detection devices determined from multiple candidate detection devices in step S130.

[0041] Through steps S110 to S150, in the process of detecting a high-water-level drainage pipe using the detection system for high-water-level drainage pipes, first, obtain the operating condition information of the drainage pipe to be detected; second, perform condition classification processing according to the operating condition information and the condition classification table to determine the condition level; automatically perform condition classification determination through the preset condition classification table, providing a reliable reference for subsequent rapid selection of appropriate target detection devices; then, determine the target detection device from the candidate detection devices according to the condition level; quickly and reliably select an appropriate target detection device through the condition level, thereby improving the detection efficiency and detection accuracy of the high-water-level drainage pipe in a high-water-level complex environment; then, determine the detection control information according to the condition level; finally, control the target detection device to detect the drainage pipe to be detected according to the detection control information to obtain the detection result. In this way, by automatically selecting an adapted target detection device and detection control information according to the condition level to detect the high-water-level drainage pipe, the detection efficiency and detection accuracy are improved, and efficient and high-precision detection of the high-water-level drainage pipe is achieved. Therefore, the embodiments of this application can improve the detection accuracy and detection efficiency of high-water-level drainage pipes.

[0042] According to some embodiments of this application, step S120 is further described. Step S120: Perform condition classification processing according to the operating condition information and the condition classification table to determine the condition level, including, but not limited to, steps S121 to S122.

[0043] Step S121: Obtain the design full flow rate and water flow velocity from the operating condition information.

[0044] Step S122: Compare the design full flow rate and water flow velocity with the preset threshold information in the condition classification table, and determine the condition level according to the obtained comparison result.

[0045] To further illustrate step S121, specifically, the full flow rate is designed as the ratio of the effective water depth h to the pipe diameter D. Step S121 lays a data foundation for determining the operating condition level.

[0046] Specifically, before performing step S120, it is necessary to pre - establish an operating condition classification table as shown in Table 1 in advance. The preset operating condition classification table is used to provide reference conditions for distinguishing different levels of operating conditions. Specifically, the preset threshold information in the operating condition classification table includes: the first full flow rate threshold, the second full flow rate threshold, the third full flow rate threshold, the first flow velocity threshold, the second flow velocity threshold, the preset full flow rate threshold range determined by the first full flow rate threshold and the second full flow rate threshold, the preset flow velocity range determined by the first flow velocity threshold and the second flow velocity threshold, and the pressure threshold.

[0047] According to some embodiments of the present application, step S122 is further illustrated. Step S122: Compare the designed full flow rate, water flow velocity with the preset threshold information in the operating condition classification table, and determine the operating condition level according to the obtained comparison results, including but not limited to steps S1221 to S1224.

[0048] Step S1221: Obtain the first full flow rate threshold, the second full flow rate threshold, the third full flow rate threshold, the first flow velocity threshold, the second flow velocity threshold, and the pressure threshold from the preset threshold information. Among them, the second full flow rate threshold is greater than the first full flow rate threshold; the third full flow rate threshold is greater than the second full flow rate threshold; the second flow velocity threshold is greater than the first flow velocity threshold.

[0049] Step S1222: When the designed full flow rate is within the preset full flow rate threshold range and the water flow velocity is less than or equal to the first flow velocity threshold, determine the operating condition level as: the first level; where the preset full flow rate threshold range is determined by the first full flow rate threshold and the second full flow rate threshold.

[0050] Step S1223: When the designed full flow rate is equal to the third full flow rate threshold and the water flow velocity is within the preset flow velocity range, determine the operating condition level as: the second level; where the preset flow velocity range is determined by the first flow velocity threshold and the second flow velocity threshold.

[0051] Step S1224: When the designed full flow rate is greater than the third full flow rate threshold and the water flow velocity is greater than the second flow velocity threshold, obtain the internal pipe pressure. When the internal pipe pressure is greater than or equal to the pressure threshold, determine the operating condition level as: the third level.

[0052] In some embodiments, as shown in Table 1, in step S1221, the first full flow threshold is 0.75, the second full flow threshold is 0.85, the third full flow threshold is 1, the first flow velocity threshold is 1.0 m / s, the second flow velocity threshold is 1.5 m / s, and the pressure threshold is 0.05 MPa; the preset full flow threshold interval determined by the first full flow threshold and the second full flow threshold is [0.75, 0.85), and the preset flow velocity interval determined by the first flow velocity threshold and the second flow velocity threshold is [1, 1.5].

[0053] Table 1

[0054] Specifically illustrate the specific process of determining the working condition level. Assume that the operating condition information of the drainage pipe to be detected includes the designed full flow degree h / D, the water flow velocity v, and the internal pressure P of the pipe.

[0055] Example 1: Referring to Table 1, when 0.75 ≤ h / D < 0.85 and v ≤ 1.0 m / s; it is determined that the current drainage pipe reaches the maximum designed fullness, that is, the drainage pipe is at a high water level but not in a full flow state, and it is determined that the working condition level of the current drainage pipe is the first level.

[0056] Example 2: Referring to Table 1, when h / D = 1 and v ≤ 1.5 m / s; it is determined that the current drainage pipe is in a full flow state, and it is determined that the working condition level inside the previous drainage pipe is the second level.

[0057] Example 3: Referring to Table 1, when h / D > 1.0, v > 1.5 m / s, and P ≥ 0.05 MPa, it is determined that the current drainage pipe is in a super full flow and super pressure state, and on the basis of full flow, the water level height of the liquid in the pipe exceeds the water level of the full flow state by 50 cm and the pipe is pressurized; it is determined that the working condition level inside the previous drainage pipe is the third level.

[0058] It can be understood that the values of the first full flow threshold and the second full flow threshold in the embodiments of the present application are only for illustrative purposes. The value of the second full flow threshold can also be 0.99, 0.98; the present application does not make specific limitations on the value of the second full flow threshold, as long as the second full flow threshold is less than 1 and greater than the first full flow threshold.

[0059] Through steps S1221 to S1224, it is possible to quickly and simply automatically determine the working condition level through the preset threshold information in the preset working condition classification table without relying on manual experience, improving the efficiency of working condition level determination; and determining the working condition level provides a reliable reference for adaptively calling the target detection device subsequently.

[0060] Through steps S121 to S122, the working condition grading determination is automatically performed through a preset working condition grading table, providing a reliable reference for quickly selecting a suitable target detection device subsequently.

[0061] According to some embodiments of the present application, the candidate detection devices include: magnetic adsorption type CCTV devices, multi-band sonar arrays, pressure sensing units, and foldable airbag plugging devices; further illustrate step S130, step S130: determine the target detection device from the candidate detection devices according to the working condition level, but not limited to having steps S131 to S133.

[0062] Step S131: When the working condition level is: the first level, determine the target detection devices as: magnetic adsorption type CCTV devices, multi-band sonar arrays.

[0063] Step S132: When the working condition level is: the second level, determine the target detection devices as: multi-band sonar arrays, pressure sensing units.

[0064] Step S133: When the working condition level is: the third level, determine the target detection devices as: magnetic adsorption type CCTV devices, multi-band sonar arrays, pressure sensing units, foldable airbag plugging devices.

[0065] Specifically, different working condition levels are used to indicate different working condition states, and different working condition states face different detection challenges. When the working condition level is the first level, the water level blocks the inner wall of the drainage pipe, and the water surface reflection interference results in low detection accuracy. When the working condition level is: the second level, that is, in the full flow state, the turbulence causes signal attenuation, resulting in low detection accuracy. When the working condition level is: the third level, that is, in the super full flow and super pressure state, the pressure fluctuation and bubble interference coexist, interfering with the detection signal, resulting in low detection accuracy. Therefore, it is necessary to select a suitable target detection device based on different working condition levels to reduce the detection interference in different working condition states.

[0066] It can be understood that for the drainage pipe network system, traditional CCTV inspection robots can only achieve inspections at low water levels in the pipe network (h / D ≤ 0.5). After the water level exceeds this standard, the high water level forms an obstruction, which easily causes the images collected by traditional CCTV inspection robots to become invalid, the inspection fails to meet expectations, the accuracy of pipe network defect judgment decreases, and the inspection efficiency of drainage pipes is low. Even though traditional sonar can meet the inspection requirements for full flow and above, using only a single inspection device easily leads to low integrity of working condition data. The general efficiency is only 70%, and it is impossible to efficiently identify subtle defects such as cracks and leakage points. There are still inspection problems such as inaccurate discrimination and difficulty in controlling accuracy. Therefore, in the embodiment of the present application, through step S131, for high water level drainage pipes, and when the working condition level of the high water level drainage pipe is the first level, that is, when the drainage pipe is at a high water level but has not reached the full flow state, a magnetic adsorption type CCTV device and a multi-frequency sonar array are selected as the target inspection devices to be adapted; so as to overcome the problems of image collection failure, low data integrity, and low inspection accuracy caused by the obstruction formed by the high water level.

[0067] It can be understood that traditional sonar can meet the inspection requirements for full flow and above, but using only a single inspection device easily leads to low integrity of working condition data. Therefore, in the present application, through step S132, for high water level drainage pipes, and when the working condition level of the high water level drainage pipe is the second level, that is, when the drainage pipe is in the full flow state, a multi-frequency sonar array and a pressure sensing unit are selected as the target inspection devices to be adapted; to overcome the problems of low data integrity and low inspection accuracy.

[0068] It can be understood that in the drainage system, when the water level is higher than the top of the pipe, a pressurized situation will occur. Under the condition of overpressure working conditions, when the equipment sealing is insufficient, it will cause the equipment to be damaged by water ingress. At the same time, the detection rate drops significantly, data is difficult to collect completely, and manual plugging or drainage is required, which is time-consuming, laborious and costly, and the inspection cost is relatively high. Based on this, in the present application, through step S133, for high water level drainage pipes, and when the working condition level of the high water level drainage pipe is the third level, that is, when the drainage pipe is in the over-full flow and over-pressure state, a magnetic adsorption type CCTV device, a multi-frequency sonar array, a pressure sensing unit, and a folding airbag plugging device are selected as the target inspection devices to be adapted, to overcome the problems of low data integrity and low inspection accuracy.

[0069] In the embodiment of the present application, through steps S131 to S133, the appropriate target inspection devices are quickly and reliably selected through the working condition level, so as to improve the inspection efficiency and inspection accuracy of high water level drainage pipes in a high water level complex environment.

[0070] According to some embodiments of the present application, step S140 is further described. Step S140: Determining the detection control information according to the working condition level includes, but is not limited to, steps S141 to S143.

[0071] Step S141: When the working condition level is the first level, determine the detection control information as the first detection control parameter; wherein, the first detection control parameter includes: pitch angle range, sonar resolution, low-frequency parameter.

[0072] Step S142: When the working condition level is the second level, determine the detection control information as the second detection control parameter; wherein, the second detection control parameter includes: sonar beam angle, pressure sampling period, high-frequency parameter.

[0073] Step S143: When the working condition level is the third level, determine the detection control information as the third detection control parameter; wherein, the third detection control parameter includes: airbag inflation pressure, detection period.

[0074] Specifically, in step S141, the pitch angle range is: -25 degrees to +25 degrees, the sonar resolution is 5 mm, and the low-frequency parameter is 200 kHz.

[0075] Specifically, in step S142, the sonar beam angle is 15°, the pressure sampling period is 0.1 s, and the high-frequency parameter is 500 kHz.

[0076] Specifically, in step S143, the airbag inflation pressure is 0.15 MPa, and the detection period is less than or equal to 5 min.

[0077] Through steps S141 to S143, the appropriate detection control information is automatically selected according to the working condition level, thereby providing a reliable reference for the subsequent detection work of the control target detection device.

[0078] According to some embodiments of the present application, as Figure 4 shown, step S150 is further described. Step S150: Control the target detection device to detect the drainage pipe to be detected according to the detection control information, and obtain the detection result, including but not limited to steps S151 to S153.

[0079] Step S151: When the working condition level is the first level, control the target detection device indicated by the first level to detect the high-water-level drainage pipe according to the first detection control parameter, and obtain the detection result.

[0080] Step S152: When the working condition level is the second level, control the target detection device indicated by the second level to detect the high-water-level drainage pipe according to the second detection control parameter, and obtain the detection result.

[0081] Step S153: When the working condition level is the third level, control the target detection device indicated by the third level according to the third detection control parameter to detect the high water level drainage pipeline, and obtain the detection result.

[0082] To further illustrate Step S151, Step S151 includes: When the working condition level is the first level, the reference first detection control parameters include: pitch angle range, sonar resolution, low-frequency parameter; the adapted target detection devices are: magnetic adsorption type CCTV device, multi-band sonar array. Then control the multi-band sonar array to work according to the sonar resolution and low-frequency parameter, and control the magnetic adsorption type CCTV device according to the pitch angle range; control the magnetic adsorption type CCTV device and the low-frequency sonar to jointly scan the high water level drainage pipeline. Specifically, when the low-frequency parameter is 200 kHz, the sonar resolution is 5 mm, and the pitch angle range is -25 degrees to +25 degrees; then control the multi-band sonar array to work at a frequency of 200 kHz as the low-frequency sonar; and set the sonar resolution to 5 mm; adjust the scanning angle of the magnetic adsorption type CCTV device according to the pitch angle range; control the magnetic adsorption type CCTV device and the low-frequency sonar to jointly scan the high water level drainage pipeline to complete the detection.

[0083] To further illustrate Step S152, Step S152 includes: When the working condition level is the second level, the reference second detection control parameters include: sonar beam angle, pressure sampling period, high-frequency parameter. The adapted target detection devices are: multi-band sonar array, pressure sensing unit. Specifically, when the sonar beam angle is 15°, the pressure sampling period is 0.1 s, and the high-frequency parameter is 500 kHz; then control the multi-band sonar array to work at a frequency of 500 kHz as the high-frequency sonar; and set the sonar beam angle of the high-frequency sonar to 15 degrees, and use the pressure sensing unit to assist in flow velocity modeling, sampling once every pressure sampling period (0.1 s); complete the detection of the drainage pipeline in the full-flow state.

[0084] To further illustrate Step S153, Step S153 includes: When the working condition level is the third level, the reference third detection control parameters include: airbag inflation pressure, detection period. The adapted target detection devices are: magnetic adsorption type CCTV device, multi-band sonar array, pressure sensing unit, folding airbag plugging device. Specifically, when the airbag inflation pressure is 0.15 MPa and the detection period is less than or equal to 5 min; specifically, when the working condition of the third level is detected, then synchronously start the folding airbag plugging device, the airbag inflation pressure is 0.15 MPa, and the generated plugging pressure is 1.2 to 1.5 times the working condition pressure to prevent water from entering the modular detection device; then, start the magnetic adsorption type CCTV device, multi-band sonar array, and pressure sensing unit to perform composite detection, and the detection period of the composite detection is less than or equal to 5 min; and synchronously monitor the pressure fluctuation in the plugging area; complete the detection of the drainage pipeline in the super-full-flow and super-pressure state.

[0085] After steps S151 to S153, after automatically selecting the appropriate target detection device and detection control information according to the working condition level, the high-water-level drainage pipeline is detected based on the target detection device and detection control information, which improves the detection efficiency and accuracy, and realizes efficient and high-precision detection of the high-water-level drainage pipeline.

[0086] According to some embodiments of the present application, after controlling the target detection device to detect the drainage pipeline to be detected according to the detection control information and obtaining the detection result, the detection method for the high-water-level drainage pipeline further includes, but is not limited to, steps S210 to S230.

[0087] Step S210: Obtain the actual detection time efficiency, actual detection cost efficiency, and actual effective coverage rate statistically obtained during the process of controlling the target detection device to detect the drainage pipeline to be detected according to the detection control information; Step S220: Input the actual detection time efficiency, actual detection cost efficiency, and actual effective coverage rate into a pre-established efficiency optimization model for calculation, and output an efficiency comprehensive score; Step S230: Judge the comprehensive detection efficiency according to the efficiency comprehensive score and a preset score threshold.

[0088] Specifically, the actual detection time efficiency refers to the detection time consumption per unit length (min / m); the actual detection cost efficiency refers to the comprehensive cost per single detection (yuan / m), and the actual effective coverage rate refers to the effective data coverage rate (%).

[0089] Specifically, further explaining step S220, the formula expression of the pre-established efficiency optimization model is: ; and ; and All are greater than zero.

[0090] Among them, is the efficiency comprehensive score; is the first preset weight, is the second preset weight, is the third preset weight; t is the actual detection time efficiency, c is the actual detection cost efficiency, and d is the actual effective coverage rate; is the benchmark detection time efficiency, is the benchmark detection cost efficiency, is the benchmark effective coverage rate. In some embodiments, =0.4:0.3:0.3.

[0091] By steps S210 to S230, an evaluation mechanism for the comprehensive detection efficiency of drainage pipelines is established. Based on this evaluation mechanism for comprehensive detection efficiency, the comprehensive detection efficiency of the current detection work can be evaluated, thereby providing a reliable reference for subsequent acceptance work.

[0092] As Figure 5 shown, the present application also provides an electronic device, including: A processor 601, which can be implemented in ways such as a general-purpose central processing unit, a microprocessor, an application-specific integrated circuit, or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application; A memory 602, which can be implemented in forms such as a read-only memory, a static storage device, a dynamic storage device, or a random access memory. The memory 602 can store an operating system and other application programs. When implementing the technical solutions provided in the embodiments of this specification through software or firmware, the relevant program codes are stored in the memory 602 and are called by the processor 601 to execute the detection method for high-water-level drainage pipelines in the embodiments of the present application; An input / output interface 603, which is used to implement information input and output; A communication interface 604, which is used to implement communication interaction between this device and other devices, and can implement communication through a wired method (such as USB, network cable, etc.) or through a wireless method (such as mobile network, WIFI, Bluetooth, etc.); A bus 605, which transmits information between various components of the device (such as the processor 601, the memory 602, the input / output interface 603, and the communication interface 604); Among them, the processor 601, the memory 602, the input / output interface 603, and the communication interface 604 are communicatively connected to each other inside the device through the bus 605.

[0093] The embodiments of the present application also provide a storage medium, which is a computer-readable storage medium. The storage medium stores a computer program, and when the computer program is executed by a processor, it implements the above-mentioned detection method for high-water-level drainage pipelines.

[0094] As a non-transitory computer-readable storage medium, the memory can be used to store non-transitory software programs and non-transitory computer-executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories can be connected to the processor through a network. Examples of the above networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and may be located in one place, or may be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0095] Those of ordinary skill in the art will understand that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or can be implemented as hardware, or can be implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include a computer storage medium (or non-transitory medium) and a communication medium (or transitory medium). As is well known to those of ordinary skill in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as is well known to those of ordinary skill in the art, a communication medium generally includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transmission mechanism, and may include any information delivery medium.

[0096] The above is a specific description of the preferred embodiments of the present application, but the present application is not limited to the above embodiments. Those skilled in the art can also make various equivalent deformations or substitutions without departing from the spirit of the present application, and these equivalent deformations or substitutions are all included within the scope defined by the present application.

Claims

1. A detection method for high water level drainage pipes, characterized in that, A controller applied to a detection system for high water level drainage pipes, wherein the system includes: a modular detection device electrically connected to the controller, and the modular detection device includes a plurality of candidate detection devices; The method includes: Obtaining the operating condition information of the drainage pipe to be detected; Performing operating condition grading processing according to the operating condition information and an operating condition grading table to determine the operating condition level; Determining a target detection device from the candidate detection devices according to the operating condition level; Determining detection control information according to the operating condition level; Controlling the target detection device to detect the drainage pipe to be detected according to the detection control information to obtain a detection result.

2. The detection method for high water level drainage pipelines according to claim 1, characterized in that The performing operating condition grading processing according to the operating condition information and an operating condition grading table to determine the operating condition level includes: Obtaining the designed full flow rate and the water flow velocity from the operating condition information; Comparing the designed full flow rate and the water flow velocity with the preset threshold information in the operating condition grading table, and determining the operating condition level according to the obtained comparison result.

3. The detection method for high water level drainage pipelines according to claim 2, characterized in that, The comparing the designed full flow rate and the water flow velocity with the preset threshold information in the operating condition grading table, and determining the operating condition level according to the obtained comparison result includes: Obtaining a first full flow rate threshold, a second full flow rate threshold, a third full flow rate threshold, a first flow velocity threshold, a second flow velocity threshold and a pressure threshold from the preset threshold information; wherein, the second full flow rate threshold is greater than the first full flow rate threshold; the third full flow rate threshold is greater than the second full flow rate threshold; the second flow velocity threshold is greater than the first flow velocity threshold; When the designed full flow rate is within a preset full flow rate threshold range and the water flow velocity is less than or equal to the first flow velocity threshold, determining the operating condition level as: the first level; wherein, the preset full flow rate threshold range is determined by the first full flow rate threshold and the second full flow rate threshold; When the designed full flow rate is equal to the third full flow rate threshold and the water flow velocity is within a preset flow velocity range, determining the operating condition level as: the second level; wherein, the preset flow velocity range is determined by the first flow velocity threshold and the second flow velocity threshold; When the designed full flow rate is greater than the third full flow rate threshold and the water flow velocity is greater than the second flow velocity threshold, obtaining the pressure inside the pipe, and when the pressure inside the pipe is greater than or equal to the pressure threshold, determining the operating condition level as: the third level.

4. The detection method for high water level drainage pipelines according to claim 1, characterized in that, The candidate detection devices include: a magnetic adsorption type CCTV device, a multi-band sonar array, a pressure sensing unit, and a folding airbag plugging device; The determining a target detection device from the candidate detection devices according to the operating condition level includes: When the operating condition level is: the first level, determining the target detection devices as: the magnetic adsorption type CCTV device, the multi-band sonar array; When the operating condition level is: the second level, determining the target detection devices as: the multi-band sonar array, the pressure sensing unit; When the operating condition level is: the third level, determining the target detection devices as: the magnetic adsorption type CCTV device, the multi-band sonar array, the pressure sensing unit, and the folding airbag plugging device.

5. The detection method for high water level drainage pipelines according to claim 1, characterized in that The determination of the detection control information according to the working condition level includes: When the working condition level is the first level, determine the detection control information as the first detection control parameter; wherein, the first detection control parameter includes: pitch angle range, sonar resolution, low-frequency parameter; When the working condition level is the second level, determine the detection control information as the second detection control parameter; wherein, the second detection control parameter includes: sonar beam angle, pressure sampling period, high-frequency parameter; When the working condition level is the third level, determine the detection control information as the third detection control parameter; wherein, the third detection control parameter includes: airbag inflation pressure, detection period.

6. The detection method for high water level drainage pipelines according to claim 5, characterized in that, The control of the target detection device to detect the drainage pipe to be detected according to the detection control information, and obtain a detection result, includes: When the working condition level is the first level, control the target detection device indicated by the first level to detect the high-water-level drainage pipe according to the first detection control parameter, and obtain a detection result; When the working condition level is the second level, control the target detection device indicated by the second level to detect the high-water-level drainage pipe according to the second detection control parameter, and obtain a detection result; When the working condition level is the third level, control the target detection device indicated by the third level to detect the high-water-level drainage pipe according to the third detection control parameter, and obtain a detection result.

7. The inspection method for high water level drainage pipelines according to claim 1, characterized in that, After the control of the target detection device to detect the drainage pipe to be detected according to the detection control information, and obtain a detection result, the method further includes: Obtain the actual detection time efficiency, actual detection cost efficiency, and actual effective coverage rate statistically obtained during the process of controlling the target detection device to detect the drainage pipe to be detected according to the detection control information; Input the actual detection time efficiency, the actual detection cost efficiency, and the actual effective coverage rate into a pre-established efficiency optimization model for calculation, and output an efficiency comprehensive score; Judge the comprehensive detection efficiency according to the efficiency comprehensive score and a preset score threshold.

8. A detection system for high water level drainage pipes, characterized in that, Including: A controller, and a modular detection device electrically connected to the controller, the modular detection device including a plurality of candidate detection devices; the controller is used to execute the detection method for the high-water-level drainage pipe according to any one of claims 1 to 7.

9. An electronic device, characterized in that, Including at least one processor and a memory for communicating with the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the detection method for the high-water-level drainage pipe according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions for causing a computer to execute the detection method for the high-water-level drainage pipe according to any one of claims 1 to 7.

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