Detection method for high water level drainage pipe and its system, equipment and medium

Abstract

The present application discloses a method for detecting high-water-level drainage pipes and its system, equipment, and medium, and relates to the field of drainage network detection technology. The method is applied to a controller of a detection system for high-water-level drainage pipes, wherein the system includes: a modular detection device electrically connected to the controller, the modular detection device including multiple candidate detection devices; the method includes: obtaining operating condition information of the drainage pipe to be detected; performing operating condition classification processing based on the operating condition information and an operating condition classification table to determine the operating condition level; determining a target detection device from the candidate detection devices based on the operating condition level; determining detection control information based on the operating condition level; and controlling the target detection device based on the detection control information to perform detection on the drainage pipe to be detected to obtain a detection result. The present application can improve the detection accuracy and efficiency of high-water-level drainage pipes.

Description

Technical Field

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

[0002] When water consumption increases and drainage pipe capacity is limited, the water level in the network rises, increasing the proportion of high-water-level operations. In complex hydraulic environments, the accuracy and efficiency of defect detection in municipal drainage networks decrease. Achieving efficient and high-precision inspection of drainage pipe health in such a complex high-water-level environment is a pressing technical challenge. Summary of the Invention

[0003] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a method for detecting high-water-level drainage pipes and its system, equipment, and medium, which can improve the detection accuracy and efficiency of high-water-level drainage pipes.

[0004] In a first aspect, an embodiment of the present application provides a method for detecting a high-water-level drainage pipe, which is applied to a controller of a detection system for a high-water-level drainage pipe, wherein the system includes: a modular detection device electrically connected to the controller, the modular detection device including a plurality of candidate detection devices;

[0005] The method comprises:

[0006] Obtaining operating condition information of the drainage pipe to be inspected;

[0007] Performing a working condition classification process based on the operating condition information and the working condition classification table to determine the working condition grade;

[0008] Determining a target detection device from the candidate detection devices according to the working condition level;

[0009] determining detection control information according to the operating condition level;

[0010] The target detection device is controlled to detect the drainage pipe to be detected according to the detection control information to obtain a detection result.

[0011] In the second aspect, an embodiment of the present application provides a detection system for high-water-level drainage pipes, comprising: a controller, a modular detection device electrically connected to the controller, the modular detection device comprising a plurality of candidate detection devices; the controller is used to execute the detection method for high-water-level drainage pipes as described in any one of the embodiments of the first aspect.

[0012] In a third aspect, an embodiment of the present application provides an electronic device comprising at least one processor and a memory for communicating with the at least one processor; the memory stores instructions that can be executed 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 method for detecting high-water-level drainage pipes as described in any one of the embodiments of the first aspect.

[0013] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the method for detecting high-water-level drainage pipes as described in any one of the embodiments of the first aspect.

[0014] An embodiment of the present application includes: a detection system for high-water-level drainage pipes includes: a controller, a modular detection device electrically connected to the controller, and the modular detection device includes multiple candidate detection devices; in the process of using the detection system for high-water-level drainage pipes to detect high-water-level drainage pipes, first, the operating condition information of the drainage pipe to be detected is obtained; secondly, the operating condition classification processing is performed according to the operating condition information and the operating condition classification table to determine the operating condition level; the operating condition classification judgment is automatically performed through the preset operating condition classification table to provide a reliable reference for the subsequent rapid selection of suitable target detection equipment; then, the target detection equipment is determined from the candidate detection equipment according to the operating condition level; the suitable target detection equipment is quickly and reliably selected through the operating condition level, thereby improving the detection efficiency and detection accuracy of high-water-level drainage pipes in a complex high-water-level environment; then, the detection control information is determined according to the operating condition level; finally, the target detection equipment is controlled according to the detection control information to detect the drainage pipe to be detected and obtain the detection result. In this way, by automatically selecting the appropriate target detection equipment and detection control information based on the working condition level, high-water-level drainage pipes are inspected, thereby improving detection efficiency and accuracy, and achieving efficient and high-precision detection of high-water-level drainage pipes. In other words, the embodiments of the present application can improve the detection accuracy and efficiency of high-water-level drainage pipes.

[0015] Other features and advantages of the present application will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained through the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the architecture of a high-water-level drainage pipe detection system provided by one embodiment of the present application;

[0017] Figure 2This is a schematic diagram of the specific structure of a detection system for a high water level drainage pipe provided by an embodiment of the present application;

[0018] Figure 3 This is a flow chart of a method for detecting a high-water-level drainage pipe provided by one embodiment of the present application;

[0019] Figure 4 This is an embodiment of the present application. Figure 3 Specific flow diagram of step S150;

[0020] Figure 5 This is a schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of this application more clear, this application is further described in detail below with reference to the accompanying drawings and embodiments.

[0022] It should be understood that in the description of this application, descriptions of orientations, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application.

[0023] It should be noted that although a logical order is shown in the flowchart in the description of this application, in some cases, the steps shown or described may be performed in an order different from that in the flowchart. In the description of this application, "several" means one or more, and "more" means two or more. The description of "first" and "second" is only used to distinguish technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0025] First, let’s explain the terms used in this application:

[0026] Closed-Circuit Television (CCTV) equipment is used for monitoring.

[0027] The present application provides a method for detecting high-water-level drainage pipes, a detection system for high-water-level drainage pipes, an electronic device, and a computer-readable storage medium, and relates to the field of drainage network detection technology. The method is applied to a controller of a detection system for high-water-level drainage pipes, wherein the system includes: a modular detection device electrically connected to the controller, the modular detection device including a plurality of candidate detection devices; the method includes: obtaining operating condition information of the drainage pipe to be detected; performing operating condition classification processing based on the operating condition information and an operating condition classification table to determine the operating condition level; determining a target detection device from the candidate detection devices based on the operating condition level; determining detection control information based on the operating condition level; and controlling the target detection device based on the detection control information to perform detection on the drainage pipe to be detected to obtain a detection result. The present application can improve the detection accuracy and efficiency of high-water-level drainage pipes.

[0028] The embodiments of the present application are further described below with reference to the accompanying drawings.

[0029] like Figure 1 As shown, Figure 1 This is a schematic diagram of the architecture of a detection system for high-water-level drainage pipes provided in an embodiment of the present application; the detection system 100 for high-water-level drainage pipes includes: a controller 110, a modular detection device 120 electrically connected to the controller 110, and the modular detection device 120 includes multiple candidate detection devices; the controller is used to execute the detection method for high-water-level drainage pipes provided in an embodiment of the present application.

[0030] Among them, the controller 110 is used to: obtain the operating condition information of the drainage pipe to be inspected; perform condition classification processing based on the operating condition information and the condition classification table to determine the condition level; determine the target detection device from the candidate detection devices based on the condition level; determine the detection control information based on the condition level; control the target detection device to detect the drainage pipe to be inspected based on the detection control information to obtain the detection results.

[0031] like Figure 2 As shown, Figure 2 This is a schematic diagram of the detailed structure of a high-water-level drainage pipe detection system provided by one embodiment of the present application. Specifically, modular detection device 120 includes multiple candidate detection devices: a magnetic CCTV device 121, a multi-band sonar array 122, a pressure sensor unit 123, and a foldable airbag occluder 124. Modular detection device 120 also includes a hydraulic lift base 125 and a multimodal data relay 126.

[0032] Specifically, the magnetic CCTV device 121 is equipped with a 4K wide-angle camera with a low-light sensitivity of 0.001 Lux. It firmly adheres to the inner wall of the pipe, ensuring the camera remains stable during inspection, preventing image shake caused by water flow or crawler movement, thereby capturing clear and stable images. The pan / tilt head can rotate and adjust at multiple angles, allowing the camera to fully observe the interior of the pipe, including the top, bottom, and sidewalls, enabling comprehensive inspection.

[0033] Specifically, the multi-band sonar array 122 has a frequency range of 200kHz to 600kHz and a scanning accuracy of ±1mm. It is used to transmit acoustic signals of different frequencies under different operating conditions and receive echo signals reflected from the inner wall of the pipe or obstacles, thereby obtaining detailed information about the interior of the pipe.

[0034] Specifically, the pressure sensing unit 123 has a range of 0 to 0.3 MPa and a sampling rate of 100 Hz. The pressure sensing unit 123 is used to assist in flow velocity modeling when the water level rises and turbulence causes signal attenuation, thereby improving the accuracy and reliability of flow velocity measurement and modeling.

[0035] Specifically, the foldable airbag occluder 124 has a pressure resistance of 0.25 MPa and a deployment time of 30 seconds or less. It is used to improve the sealing performance of the modular detection device when the water level in the drainage pipe rises above the pipe top, creating pressure and overpressure conditions, thereby protecting the equipment within the modular detection device from water damage.

[0036] Specifically, the hydraulic lift base 125 has a travel range of 0 to 80 cm and a load capacity of 20 kg. The hydraulic lift base 125 is used to lift and lower the modular detection device as a whole, facilitating adjustment of the modular detection device's position and enabling better detection of high-water-level drainage pipes.

[0037] Specifically, the multimodal data repeater 126 supports 5G / WiFi dual-mode transmission. The multimodal data repeater 126 is used to transmit the collected data to a host computer that is communicatively connected to the multimodal data repeater for remote monitoring.

[0038] The detection system for high-water-level drainage pipes of an embodiment of the present application includes: a controller, a modular detection device electrically connected to the controller, the modular detection device includes multiple candidate detection devices; in the process of detecting high-water-level drainage pipes using the detection system for high-water-level drainage pipes, the detection method for high-water-level drainage pipes provided by the embodiment of the present application is realized through the mutual cooperation between the controller and the modular detection device, which can improve the detection accuracy and efficiency of high-water-level drainage pipes.

[0039] Those skilled in the art will understand that the system structure shown in the figure does not constitute a limitation on the embodiments of the present application, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0040] The system embodiment described above is merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0041] Those skilled in the art will understand that the system architecture and application scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will know that with the evolution of the system architecture and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0042] 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.

[0043] First, as Figure 3 As shown, the detection method for high water level drainage pipes can be applied to Figure 1 The controller of the detection system for high-water-level drainage pipes shown in the figure, wherein the detection system for high-water-level drainage pipes includes: a modular detection device electrically connected to the controller, the modular detection device includes multiple candidate detection devices; the detection method for high-water-level drainage pipes may include but is not limited to steps S110 to S150.

[0044] Step S110: Acquire the operating condition information of the drainage pipe to be detected.

[0045] Step S120: Perform operating condition classification processing according to the operating condition information and the operating condition classification table to determine the operating condition level.

[0046] Step S130: determining a target detection device from candidate detection devices according to the working condition level.

[0047] Step S140: Determine detection control information according to the operating condition level.

[0048] Step S150: Control the target detection device to detect the drainage pipe to be detected according to the detection control information to obtain the detection result.

[0049] Specifically, the operating condition information of the drainage pipe includes, but is not limited to, the designed full flow, water flow velocity, and internal pipe pressure. It is understood that the operating condition information of the drainage pipe can be obtained through the coordinated operation of multiple sensors; therefore, this application does not specifically limit the method for obtaining the operating condition information of the drainage pipe. This application obtains the operating condition information of the drainage pipe to be tested in step S110, laying the data foundation for the subsequent determination of the operating condition level.

[0050] Specifically, the operating condition level is one of the following: level 1, level 2, and level 3. It is understandable that different operating condition levels result in different operating states in the drainage pipe.

[0051] It can be understood that, in step S130 , there are at least two target detection devices determined from the multiple candidate detection devices.

[0052] Through steps S110 to S150, in the process of inspecting a high-water-level drainage pipe using the high-water-level drainage pipe inspection system, first, operating condition information of the drainage pipe to be inspected is obtained; second, the operating condition is classified according to the operating condition information and the operating condition classification table to determine the operating condition level; the operating condition classification is automatically determined using the preset operating condition classification table, providing a reliable reference for the subsequent rapid selection of appropriate target detection equipment; then, a target detection device is determined from candidate detection devices based on the operating condition level; the appropriate target detection device is quickly and reliably selected based on the operating condition level, thereby improving the detection efficiency and detection accuracy of the high-water-level drainage pipe in a complex high-water-level environment; then, detection control information is determined based on the operating condition level; finally, the target detection device is controlled based on the detection control information to inspect the drainage pipe to be inspected and obtain a detection result. In this way, the high-water-level drainage pipe is inspected by automatically selecting the appropriate target detection device and detection control information based on the operating condition level, thereby improving the detection efficiency and detection accuracy, and achieving efficient and high-precision detection of the high-water-level drainage pipe. Therefore, the embodiments of the present application can improve the detection accuracy and efficiency of high-water-level drainage pipes.

[0053] According to some embodiments of the present application, step S120 is further described. Step S120: performing operating condition classification processing according to the operating condition information and the operating condition classification table to determine the operating condition level, including but not limited to steps S121 to S122.

[0054] Step S121: Obtain the designed full flow and water flow rate from the operating condition information.

[0055] Step S122: Compare the designed full flow and water flow velocity with the preset threshold information in the working condition classification table, and determine the working condition grade according to the comparison result.

[0056] Further explaining step S121, specifically, the designed full flow is the ratio between the effective water depth h and the pipe diameter D. Step S121 lays the data foundation for determining the working condition level.

[0057] Specifically, before executing step S120, it is necessary to pre-establish an operating condition classification table as shown in Table 1. 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: a first full flow threshold, a second full flow threshold, a third full flow threshold, a first flow rate threshold, a second flow rate threshold, a preset full flow threshold interval determined by the first full flow threshold and the second full flow threshold, a preset flow rate interval determined by the first flow rate threshold and the second flow rate threshold, and a pressure threshold.

[0058] According to some embodiments of the present application, step S122 is further described. Step S122: compare the designed full flow rate and water flow rate with the preset threshold information in the operating condition classification table, and determine the operating condition level based on the comparison results, including but not limited to steps S1221 to S1224.

[0059] Step S1221: Obtain the first full flow threshold, the second full flow threshold, the third full flow threshold, the first flow rate threshold, the second flow rate threshold and the pressure threshold from the preset threshold information; wherein, the second full flow threshold is greater than the first full flow threshold; the third full flow threshold is greater than the second full flow threshold; and the second flow rate threshold is greater than the first flow rate threshold.

[0060] Step S1222: When the designed full flow is in the preset full flow threshold range and the water flow rate is less than or equal to the first flow rate threshold, the operating condition level is determined to be: first level; wherein the preset full flow threshold range is determined by the first full flow threshold and the second full flow threshold.

[0061] Step S1223: When the designed full flow is equal to the third full flow threshold and the water flow rate is in the preset flow rate range, the operating condition level is determined to be: the second level; wherein the preset flow rate range is determined by the first flow rate threshold and the second flow rate threshold.

[0062] Step S1224: When the designed full flow is greater than the third full flow threshold and the water flow rate is greater than the second flow rate threshold, the pressure in the pipe is obtained. When the pressure in the pipe is greater than or equal to the pressure threshold, the operating condition level is determined to be: the third level.

[0063] 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 rate threshold is 1.0 m / s, the second flow rate 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 rate interval determined by the first flow rate threshold and the second flow rate threshold is [1, 1.5].

[0064] Table 1

[0065]

[0066] The specific process of determining the working condition level is described in detail. Assume that the operating condition information of the drainage pipe to be tested includes the design full flow rate h / D, the water flow velocity v, and the pressure inside the pipe P.

[0067] Example 1: Based on Table 1, when 0.75≤h / D<0.85 and v≤1.0m / s, the current drainage pipe is judged to have reached the maximum design fullness, that is, the water level in the drainage pipe is high but not full, and the current drainage pipe operating condition is judged to be level 1.

[0068] Example 2: Based on Table 1, when h / D=1 and v≤1.5m / s, the current drainage pipe is judged to be in a full flow state, and the working condition level in the previous drainage pipe is judged to be the second level.

[0069] Example 3: Combined with Table 1, when h / D > 1.0, v > 1.5 m / s, and P ≥ 0.05 MPa, the current drainage pipe is judged to be in an overflow and overpressure state. In addition, the water level of the liquid in the pipe exceeds the full flow state by 50 cm and the pipe is under pressure. The working condition level in the previous drainage pipe is judged to be the third level.

[0070] It can be understood that the values ​​of the first full flow threshold and the second full flow threshold in the embodiment of the present application are only for illustrative purposes, and the value of the second full flow threshold can also be 0.99 and 0.98; the present application does not impose any specific restrictions 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.

[0071] Through steps S1221 to S1224, the working condition level can be automatically determined quickly and simply through the preset threshold information in the preset working condition classification table without relying on human experience, thereby improving the efficiency of working condition level determination; and the determined working condition level provides a reliable reference for the subsequent adaptive calling of the target detection equipment.

[0072] Through step S121 to step S122, the working condition classification is automatically determined by using the preset working condition classification table, providing a reliable reference for the subsequent rapid selection of appropriate target detection equipment.

[0073] According to some embodiments of the present application, candidate detection devices include: magnetic CCTV equipment, multi-band sonar array, pressure sensing unit, foldable airbag occluder; further explanation of step S130, step S130: determine the target detection device from the candidate detection devices according to the working condition level, but not limited to steps S131 to S133.

[0074] Step S131: When the working condition level is: first level, determine the target detection device as: magnetic CCTV device, multi-band sonar array.

[0075] Step S132: When the working condition level is: the second level, determine that the target detection equipment is: a multi-band sonar array, a pressure sensing unit.

[0076] Step S133: When the working condition level is: the third level, the target detection equipment is determined to be: a magnetic CCTV device, a multi-band sonar array, a pressure sensing unit, and a foldable airbag occluder.

[0077] Specifically, different working condition levels are used to indicate different working conditions, and different working conditions 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 interferes, resulting in low detection accuracy. When the working condition level is: the second level, that is, in the full flow state, 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 overpressure state, pressure fluctuations and bubble interference coexist, interfering with the detection signal, resulting in low detection accuracy. Therefore, it is necessary to select appropriate target detection equipment based on different working condition levels to reduce detection interference under different working conditions.

[0078] Understandably, for drainage pipe networks, traditional CCTV inspection robots are only capable of inspecting low water levels (h / D ≤ 0.5). Above this water level, obstructions from the high water level can easily cause the images captured by traditional CCTV inspection robots to fail, resulting in suboptimal inspections and reduced accuracy in pipe network defect detection. Even with traditional sonar capable of meeting inspection requirements at full flow and above, using only a single inspection device can lead to low integrity of operating condition data, with a typical efficiency of only 70%. This inability to effectively identify subtle defects such as cracks and leaks can lead to inaccurate identification and difficulty maintaining accurate inspection results. Therefore, in step S131, the present embodiment selects a magnetic CCTV device and a multi-band sonar array as the appropriate target detection devices for high-water-level drainage pipes, where the operating condition level is the first level (i.e., the drainage pipe is at a high water level but not at full flow). This overcomes the issues of image failure, data integrity, and inspection accuracy caused by obstructions from the high water level.

[0079] It is understandable that traditional sonar can meet the detection needs of full flow and above, but the use of only a single detection device can easily lead to low integrity of the working condition data. Therefore, this application, through step S132, targets high-water-level drainage pipes, and when the working condition level of the high-water-level drainage pipes is the second level, that is, the drainage pipes are in a full flow state, a multi-band sonar array and a pressure sensing unit are selected as target detection devices as adapted target detection devices; to overcome the problems of low data integrity and low detection accuracy.

[0080] It is understandable that in the drainage system, when the water level is higher than the top of the pipe, pressure will occur. Under overpressure conditions, when the equipment is not sealed enough, it will cause water ingress and damage to the equipment. At the same time, the detection rate will drop significantly, and data will be difficult to collect completely. At the same time, manual blocking or drainage is required, which is time-consuming, labor-intensive, and costly, and the detection cost is high. Based on this, this application, through step S133, targets high-water-level drainage pipes, and when the working condition level of the high-water-level drainage pipe is the third level, that is, the drainage pipe is in an over-full flow and overpressure state, selects magnetic CCTV equipment, multi-band sonar arrays, pressure sensing units, and folding airbag occluders as suitable target detection equipment to overcome the problems of low data integrity and low detection accuracy.

[0081] The embodiment of the present application uses steps S131 to S133 to quickly and reliably select appropriate target detection equipment based on the working condition level, thereby improving the detection efficiency and accuracy of high-water-level drainage pipes in a complex high-water-level environment.

[0082] According to some embodiments of the present application, step S140 is further described. Step S140: determining detection control information according to the working condition level includes but is not limited to steps S141 to S143.

[0083] Step S141: When the working condition level is: first level, determine that the detection control information is a first detection control parameter; wherein the first detection control parameter includes: pitch angle range, sonar resolution, and low-frequency parameters.

[0084] Step S142: When the working condition level is the second level, the detection control information is determined to be the second detection control parameter; wherein the second detection control parameter includes: sonar beam angle, pressure sampling period, and high frequency parameters.

[0085] Step S143: When the operating condition level is the third level, the detection control information is determined to be a third detection control parameter; wherein the third detection control parameter includes: airbag inflation pressure and detection cycle.

[0086] 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.

[0087] Specifically, in step S142, the sonar beam angle is 15°, the pressure sampling period is 0.1s, and the high-frequency parameter is 500kHz.

[0088] Specifically, in step S143 , the airbag inflation pressure is 0.15 MPa and the detection period is less than or equal to 5 minutes.

[0089] Through steps S141 to S143, adaptive detection control information is automatically selected according to the working condition level to provide a reliable reference for subsequent control of the target detection equipment to perform detection work.

[0090] According to some embodiments of the present application, Figure 4 As shown, step S150 is further described. Step S150: according to the detection control information, the target detection device is controlled to detect the drainage pipe to be detected to obtain the detection result, including but not limited to steps S151 to S153.

[0091] Step S151: When the working condition level is: the first level, the target detection device indicated by the first level is controlled according to the first detection control parameter to detect the high water level drainage pipe to obtain the detection result.

[0092] Step S152: When the working condition level is the second level, the target detection device indicated by the second level is controlled according to the second detection control parameter to detect the high water level drainage pipe to obtain a detection result.

[0093] Step S153: When the working condition level is the third level, the target detection device indicated by the third level is controlled according to the third detection control parameter to detect the high water level drainage pipe to obtain a detection result.

[0094] Further explaining step S151, step S151 includes: when the operating condition level is level 1, the reference first detection control parameters include: pitch angle range, sonar resolution, and low-frequency parameters; the adapted target detection devices are: magnetic CCTV equipment and multi-band sonar array. The multi-band sonar array is controlled based on the sonar resolution and low-frequency parameters, and the magnetic CCTV equipment is controlled based on the pitch angle range; the magnetic CCTV equipment and the low-frequency sonar are controlled to jointly scan the high-water level drainage pipe. Specifically, when the low-frequency parameters are 200kHz, the sonar resolution is 5mm, and the pitch angle range is -25 degrees to +25 degrees, the multi-band sonar array is controlled to operate at a frequency of 200kHz, acting as a low-frequency sonar, and the sonar resolution is set to 5mm. The scanning angle of the magnetic CCTV equipment is adjusted based on the pitch angle range; the magnetic CCTV equipment and the low-frequency sonar are controlled to jointly scan the high-water level drainage pipe to complete the detection.

[0095] Further explaining step S152, step S152 includes: when the operating condition level is level 2, the reference second detection control parameters include: sonar beam angle, pressure sampling period, and high-frequency parameters. The applicable target detection equipment is: a multi-band sonar array and a pressure sensing unit. Specifically, when the sonar beam angle is 15°, the pressure sampling period is 0.1s, and the high-frequency parameter is 500kHz, the multi-band sonar array is controlled to operate at a frequency of 500kHz, acting as a high-frequency sonar. The sonar beam angle of the high-frequency sonar is set to 15 degrees, and the pressure sensing unit is used to assist in flow velocity modeling, sampling once every 0.1s pressure sampling period. This completes the detection of the drainage pipe in a full flow state.

[0096] Further explanation of step S153, step S153 includes: when the working condition level is: the third level, the reference third detection control parameter includes: airbag inflation pressure, detection cycle. The adapted target detection equipment is: magnetic CCTV equipment, multi-band sonar array, pressure sensing unit, foldable airbag occluder. Specifically, when the airbag inflation pressure is 0.15MPa and the detection cycle is less than or equal to 5min; specifically, when the third level working condition is detected, the foldable airbag occluder is synchronously started, the airbag inflation pressure is 0.15MPa, and the generated blocking pressure is 1.2 to 1.5 times the working condition pressure to prevent water from entering the modular detection device; then, the magnetic CCTV equipment, multi-band sonar array, and pressure sensing unit are started to realize composite detection, and the detection cycle of the composite detection is less than or equal to 5min; and the pressure fluctuations in the blocking area are synchronously monitored; the detection of the drainage pipe in the over-full flow and overpressure state is completed.

[0097] Through steps S151 to S153, after automatically selecting the appropriate target detection equipment and detection control information according to the working condition level, the high water level drainage pipe is detected based on the target detection equipment and detection control information, thereby improving the detection efficiency and detection accuracy, and realizing efficient and high-precision detection of the high water level drainage pipe.

[0098] According to some embodiments of the present application, the target detection device is controlled according to the detection control information to detect the drainage pipe to be detected. After obtaining the detection results, the detection method for the high water level drainage pipe also includes but is not limited to steps S210 to S230.

[0099] Step S210: Obtaining actual detection time efficiency, actual detection cost efficiency, and actual effective coverage rate obtained by statistics during the process of controlling the target detection device to detect the drainage pipe to be detected according to the detection control information;

[0100] Step S220: Input the actual detection time efficiency, the actual detection cost efficiency, and the actual effective coverage into a pre-established efficiency optimization model, perform calculations, and output a comprehensive efficiency score;

[0101] Step S230: Determine the comprehensive detection efficiency based on the comprehensive efficiency score and a preset score threshold.

[0102] Specifically, the actual detection time efficiency refers to the time consumed for detection per unit length (min / m); the actual detection cost efficiency refers to the comprehensive cost of a single detection (yuan / m); and the actual effective coverage rate refers to the effective data coverage rate (%).

[0103] Specifically, to further illustrate step S220, the formula expression of the pre-established efficiency optimization model is:

[0104] ;and ;and Both are greater than zero.

[0105] in, is the comprehensive efficiency 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; As the benchmark test time efficiency, Benchmarking cost efficiency, is the baseline effective coverage. In some embodiments, =0.4:0.3:0.3.

[0106] Through steps S210 to S230, a comprehensive efficiency evaluation mechanism for drainage pipe inspection is established. Based on the comprehensive efficiency evaluation mechanism, the comprehensive efficiency of the current inspection work can be evaluated, thereby providing a reliable reference for subsequent acceptance work.

[0107] like Figure 5 As shown, the present application also provides an electronic device, including:

[0108] The processor 601 may be implemented as a general-purpose central processing unit, a microprocessor, an application-specific integrated circuit, or one or more integrated circuits, and is configured to execute relevant programs to implement the technical solutions provided in the embodiments of the present application.

[0109] The memory 602 can be implemented in the form of 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 the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 602 and is called by the processor 601 to execute the high water level drainage pipe detection method of the embodiment of the present application;

[0110] Input / output interface 603, used to implement information input and output;

[0111] Communication interface 604, used to implement communication interaction between the apparatus and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);

[0112] Bus 605 , which transmits information between various components of the device (e.g., processor 601 , memory 602 , input / output interface 603 , and communication interface 604 );

[0113] The processor 601 , the memory 602 , the input / output interface 603 and the communication interface 604 are connected to each other in communication within the device via a bus 605 .

[0114] An embodiment of the present application further provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the above-mentioned method for detecting high-water-level drainage pipes is implemented.

[0115] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory optionally includes a memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of the above-mentioned networks include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof. The device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and are 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 present embodiment.

[0116] Those skilled in the art will appreciate that all or some of the steps and systems disclosed above can be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media 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 includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, 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. Furthermore, as is well known to those skilled in the art, communication media typically includes computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0117] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the above implementation mode. Technical personnel familiar with the field can also make various equivalent modifications or substitutions without violating the spirit of the present application. These equivalent modifications or substitutions are all included in the scope defined by the present application.

Claims

1. A method for detecting high water level drainage pipes, characterized in that: A controller for a detection system for a high-water-level drainage pipe, wherein the system comprises: a modular detection device electrically connected to the controller, the modular detection device comprising a plurality of candidate detection devices; The method comprises: Obtaining operating condition information of the drainage pipe to be inspected; Performing a working condition classification process based on the operating condition information and the working condition classification table to determine the working condition grade; Determining a target detection device from the candidate detection devices according to the working 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; Among them, the candidate detection equipment includes: magnetic CCTV equipment, multi-band sonar array, pressure sensing unit, foldable airbag occluder; The determining of a target detection device from the candidate detection devices according to the operating condition level includes: When the working condition level is: the first level, determining that the target detection device is: the magnetic CCTV device, the multi-band sonar array; When the working condition level is: the second level, determining that the target detection device is: the multi-band sonar array and the pressure sensing unit; When the working condition level is: the third level, determining that the target detection device is: a magnetic CCTV device, a multi-band sonar array, a pressure sensing unit, and a foldable airbag occluder; Determining the detection control information according to the working condition level includes: When the working condition level is: the first level, determining the detection control information as the first detection control parameter; wherein the first detection control parameter includes: pitch angle range, sonar resolution, and low-frequency parameter; When the working condition level is the second level, determining the detection control information as the second detection control parameter; wherein the second detection control parameter includes: sonar beam angle, pressure sampling period, and high frequency parameter; When the working condition level is the third level, the detection control information is determined to be a third detection control parameter; wherein the third detection control parameter includes: airbag inflation pressure and detection cycle; The controlling the target detection device to detect the drainage pipe to be detected according to the detection control information to obtain a detection result includes: When the working condition level is: the first level, controlling the target detection device indicated by the first level according to the first detection control parameter to detect the high water level drainage pipe to obtain a detection result; When the working condition level is the second level, the target detection device indicated by the second level is controlled according to the second detection control parameter to detect the high water level drainage pipe to obtain a detection result; When the working condition level is the third level, the target detection device indicated by the third level is controlled according to the third detection control parameter to detect the high water level drainage pipe to obtain a detection result.

2. The method for detecting a high water level drainage pipe according to claim 1, characterized in that: The performing of operating condition classification processing according to the operating condition information and the operating condition classification table to determine the operating condition level includes: Obtaining a designed full flow rate and a water flow velocity from the operating condition information; The designed full flow, the water flow velocity and the preset threshold information in the working condition classification table are compared, and the working condition grade is determined based on the comparison result.

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

4. The method for detecting a high water level drainage pipe according to claim 1, characterized in that: After controlling the target detection device to detect the drainage pipe to be detected according to the detection control information and obtaining the detection result, the method further includes: Obtaining 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 into a pre-established efficiency optimization model, perform calculations, and output a comprehensive efficiency score; The comprehensive detection efficiency is determined based on the comprehensive efficiency score and a preset score threshold.

5. A detection system for high water level drainage pipes, characterized in that: include: a controller, a modular detection device electrically connected to the controller, the modular detection device comprising a plurality of candidate detection devices; The controller is used to execute the method for detecting a high water level drainage pipe according to any one of claims 1 to 4.

6. An electronic device, characterized in that: It includes at least one processor and a memory for communicating with the at least one processor; the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method for detecting high-water-level drainage pipes as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the method for detecting a high-water-level drainage pipe according to any one of claims 1 to 4.

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