Intelligent air tightness detection device for underwater pipes

Abstract

The application discloses an air-tight intelligent detection device for underwater pipes and relates to the related field of pipe detection. The device comprises a state recognition module, an automatic centering positioning module, a dynamic pressing and locking module, an automatic locking module and an inflation test module. The state recognition module is used for reading pipe detection data, establishing port three-dimensional contour data and verifying the state of two ports. The automatic centering positioning module is used for creating a positioning point, performing automatic centering positioning and generating a sealing activation instruction after a successful result is reported. The dynamic pressing and locking module is used for fitting heating and pressing parameters and performing heating and pressing control through the fitting result. The automatic locking module is used for activating the automatic locking module and generating a test instruction. The inflation test module is used for performing air-tight test and monitoring pressure data. The joint analysis module is used for generating an air-tight detection result. The technical problems of low detection efficiency and low reliability of detection results of the existing air-tight detection of underwater pipes are solved, and the technical effects of improving the detection efficiency and the accuracy and reliability of detection results are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of pipe detection, and particularly relates to an intelligent air tightness detection device for underwater pipes. BACKGROUND

[0002] In the fields of underwater engineering, offshore oil exploitation and underwater pipeline laying, air tightness detection of underwater pipes is a key link to ensure safe and stable operation of the system. Due to the complex and changeable underwater environment, the air tightness of pipes is required to be extremely high, and any slight leakage may cause serious consequences. In the existing technology, the air tightness detection of underwater pipes mainly adopts the water bubble detection method, that is, the pipes are put into water, and whether bubbles are generated is observed to judge the air tightness. This method needs long time soaking and observation, resulting in low detection efficiency, and due to the need of naked eye observation or reliance on artificial judgment, misjudgment is easy to occur.

[0003] At present, in the related art, the air tightness detection of underwater pipes has the technical problems of low detection efficiency and low reliability of detection results. SUMMARY

[0004] The present application provides an intelligent air tightness detection device for underwater pipes, which adopts three-dimensional laser scanning technology to obtain accurate three-dimensional profile data of two ports of the pipes, and compares and verifies the pipe detection data, creates a positioning point based on the port state data, realizes automatic centering positioning through a servo motor and a multi-axis robot, fits heating and pressing parameters according to the port state data, automatically activates the test module after successful pressing, fills high-pressure gas into the interior of the pipes for air tightness test, generates air tightness detection results based on pressure data, and realizes efficient, automatic and accurate air tightness detection of underwater pipes, and achieves the technical effects of improving detection efficiency and accuracy and reliability of detection results.

[0005] The present application provides an intelligent air tightness detection device for underwater pipes, which includes:

[0006] The state recognition module is configured to read pipe detection data of the underwater pipe, configure three-dimensional laser scanning software based on the pipe detection data, perform three-dimensional scanning of two ports of the underwater pipe, establish three-dimensional contour data of the ports, verify the state of the two ports based on the three-dimensional contour data of the ports and the pipe detection data, and establish port state data; the automatic centering positioning module is configured to create a positioning point based on the port state data, control a servo motor and a multi-axis robot to perform automatic centering positioning based on the positioning point, and generate a sealing activation instruction after the automatic centering positioning reports a successful result; the dynamic compression locking module is configured to call the port state data to perform heating and compression parameter fitting after receiving the sealing activation instruction, generate a fitting result, control a sealing press head and a heating device to perform heating and compression control based on a sealing ring based on the fitting result, and generate a compression feedback; the automatic locking module is configured to activate the automatic locking module and generate a test instruction when the compression feedback is a pass result; the air charging test module is configured to perform air tightness testing of the underwater pipe and monitor pressure data of the underwater pipe after receiving the test instruction; and the joint analysis module is configured to generate an air tightness detection result based on the pressure data.

[0007] In possible implementation manners, the dynamic compression locking module is configured to:

[0008] The heating and compression parameter fitting is performed by a formula, and the formula is as follows: ; wherein, represents a sealing effect parameter, and is used to evaluate the comprehensive effect of compression and heating, is a correction coefficient, and is used to adjust the calculation of the compression force, is set based on the material properties of the underwater pipe in the port state data, represents the internal air pressure of the expected underwater pipe, is the cross-sectional area of the two ports, is the friction coefficient of the sealing ring material, is the wall thickness of the underwater pipe, is the external diameter of the port of the underwater pipe, represents the heating temperature, , is the ambient temperature, is a thermal effect correction coefficient, is the Young's modulus of the underwater pipe, is the thermal expansion coefficient of the underwater pipe, is the interaction coefficient of heating and compression, is the surface roughness coefficient of the underwater pipe, represents the compression force, .

[0009] In possible implementation manners, the dynamic compression locking module is configured to:

[0010] Based on the port state data, a key parameter is configured for analyzing a key attribute affecting material performance, and a comprehensive evaluation index is calculated through the key parameter to generate a material performance evaluation result; if the material performance evaluation result cannot meet a preset performance threshold, a support instruction is generated; and the support instruction is used to support both ends before feedback of the pressing.

[0011] In possible implementation manners, the joint analysis module is further configured to:

[0012] Obtain deformation data of the underwater pipe material collected by a deformation sensor; perform joint leakage probability distribution analysis based on the deformation data and the pressure data to establish a joint leakage probability distribution analysis result; and establish a gas tightness detection result based on the joint leakage probability distribution analysis result.

[0013] In possible implementation manners, the state recognition module is configured to:

[0014] Analyze the pipe detection data to generate basic parameters including diameter, wall thickness, material type, surface roughness, and roundness tolerance, and construct verification standard values based on the basic parameters; perform deviation calculation of the port three-dimensional profile data based on the verification standard values, and generate port state data based on the deviation calculation result.

[0015] In possible implementation manners, the state recognition module is configured to:

[0016] Configure a port defect feature set; perform defect matching of the port three-dimensional profile data based on the port defect feature set to establish a defect matching result; and perform port state data compensation based on the defect matching result to update the port state data.

[0017] In possible implementation manners, the device further includes:

[0018] A response monitoring module is configured to perform response monitoring on real-time inflation data to establish real-time response monitoring results, and perform consistency verification of a test instruction based on the real-time response monitoring results to generate a consistency deviation; and an abnormal feedback module is configured to receive the consistency deviation to generate a control abnormal feedback, and optimize the inflation test module through the control abnormal feedback.

[0019] In possible implementation manners, the device further includes:

[0020] A synchronous recognition module is configured to establish synchronous recognition defects of the underwater pipe material based on the gas tightness detection result, and perform attention recognition of the underwater pipe material based on the synchronous recognition defects to complete subsequent gas tightness detection of the same batch.

[0021] The air tightness intelligent detection device for underwater pipes provided in the application can read pipe detection data of the underwater pipe through a state recognition module, configure three-dimensional laser scanning software based on the pipe detection data, perform three-dimensional scanning of two ports of the underwater pipe, establish three-dimensional contour data of the ports, verify the states of the two ports based on the three-dimensional contour data of the ports and the pipe detection data, establish port state data, create a positioning point based on the port state data through an automatic centering positioning module, control a servo motor and a multi-axis robot based on the positioning point to perform automatic centering positioning, generate a sealing activation instruction after the automatic centering positioning reports a successful result, call the port state data to perform heating and pressing parameter fitting after the dynamic pressing and locking module receives the sealing activation instruction, generate a fitting result, control a sealing press head and a heating device based on the fitting result to perform heating and pressing control based on a sealing ring, and generate a pressing feedback, activate the automatic locking module when the pressing feedback is a passing result through the automatic locking module, and generate a test instruction, perform air tightness testing of the underwater pipe and monitor pressure data of the underwater pipe after the inflation testing module receives the test instruction, and generate an air tightness detection result based on the pressure data through the joint analysis module, so that the technical effects of improving the detection efficiency and the accuracy and reliability of the detection result are achieved. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings of the embodiments of the application will be briefly introduced below. Flowcharts are used in the present application to illustrate the operations performed by the device according to the embodiments of the present application. It should be understood that the foregoing or the following operations are not necessarily performed in sequence. On the contrary, various steps can be processed in reverse order or simultaneously according to needs. Meanwhile, other operations can be added to these processes, or one or more steps can be removed from these processes.

[0023] Figure 1 The structural schematic diagram of the air tightness intelligent detection device for underwater pipes provided in the embodiments of the present application is shown.

[0024] Figure 2 The flowchart of the air tightness intelligent detection device for underwater pipes provided in the embodiments of the present application is shown.

[0025] Legend of the drawings: state recognition module 10, automatic centering positioning module 20, dynamic pressing and locking module 30, automatic locking module 40, inflation testing module 50, joint analysis module 60. DETAILED DESCRIPTION

[0026] The above description is only a summary of the technical solutions of the present application. In order to make the technical means of the present application more clearly understood and can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described.

[0027] In order to make the purposes, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0028] In the following description, "some embodiments" are related to a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same subset or different subset of all possible embodiments, and can be combined with each other without conflict. The terms "include" and "have" and any variations, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or modules that are not clearly listed or inherent to these processes, methods, products or devices. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as understood by those skilled in the art 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.

[0029] The embodiments of the present application provide an intelligent air tightness detection device for underwater pipes, as shown in Figure 1 The device comprises:

[0030] The state recognition module 10 is configured to read pipe detection data of the underwater pipe, configure three-dimensional laser scanning software based on the pipe detection data, perform three-dimensional scanning of two ports of the underwater pipe, establish three-dimensional contour data of the ports, verify the state of the two ports based on the three-dimensional contour data of the ports and the pipe detection data, and establish port state data. Specifically, real-time state data of the underwater pipe, including temperature, pressure, appearance image, etc., is obtained through sensors (temperature sensor, pressure sensor, etc.) and image acquisition devices (high-definition camera, etc.). According to the pipe detection data, the parameters of the three-dimensional laser scanning software are adjusted, including scanning accuracy, scanning range, etc., to adapt to the characteristics of the pipe. The two ports of the underwater pipe are scanned by a three-dimensional laser scanner with high precision. During the scanning process, the laser beam irradiates the surface of the port of the underwater pipe, and the three-dimensional coordinate information of the port is obtained by receiving the reflected laser signal. After the scanning is completed, the three-dimensional point cloud data of the two ports is obtained. The three-dimensional point cloud data obtained by scanning is processed, including removing noise, smoothing the surface, filling holes, etc., to generate accurate three-dimensional contour data of the ports. By comparing the shape and size information in the three-dimensional contour data of the ports with the related parameters in the pipe detection data, it is evaluated whether the ports have problems such as deformation and size deviation. At the same time, in combination with the appearance image and other data, it is checked whether the surface of the port has damage, corrosion or other defects. According to the analysis result, the actual state of the two ports of the underwater pipe is verified, and detailed port state data is established, including three-dimensional contour description, size deviation, damage condition, health condition evaluation and other information of the port.

[0031] In a possible implementation, the state recognition module 10 is configured to analyze the pipe detection data to generate basic parameters, including diameter, wall thickness, material type, surface roughness, roundness tolerance, and construct verification standard values based on the basic parameters; calculate the deviation of the three-dimensional contour data of the ports based on the verification standard values, and generate the port state data based on the deviation calculation result.

[0032] Specifically, the pipe detection data is analyzed, and specific values of basic parameters are extracted and calculated, including diameter, wall thickness, material type, surface roughness, roundness tolerance, etc. Among them, the diameter is the maximum distance of the cross section of the underwater pipe; the wall thickness is the distance between the inner and outer walls of the underwater pipe; the material type refers to the material of the underwater pipe, such as steel, plastic, etc.; the surface roughness represents the unevenness of the surface of the underwater pipe; the roundness tolerance refers to the deviation range of the cross-sectional shape of the underwater pipe from the ideal circle. The pipe detection data is directly obtained by the sensor and has high credibility, and is used as the reference data, i.e. the verification standard value. The three-dimensional measurement software is used to compare the port three-dimensional profile data with the verification standard value, and calculate the deviation values of each parameter, including the diameter deviation, the wall thickness difference, the shape matching degree, etc. The size and distribution of the deviation reveal the consistency between the two kinds of data. If the deviation is very small and within the acceptable range, it is considered that the two kinds of data are accurate, and the state of the port is reliable. According to the deviation calculation result, the accuracy of the two kinds of data and the reliability of the port state are evaluated. After confirming that the two kinds of data are accurate and consistent, the final port state data is generated, including the three-dimensional profile description of the port, the deviation condition with the pipe detection data, the evaluation result of the port state, etc. This implementation mode verifies the accuracy of each other by comparing the two kinds of data, reduces the misjudgment caused by the error of a single data source, and improves the reliability of the port state evaluation.

[0033] In a possible implementation mode, the state recognition module 10 is configured to: configure a port defect feature set; perform defect matching of the port three-dimensional profile data based on the port defect feature set, and establish a defect matching result; and perform port state data compensation based on the defect matching result to update the port state data.

[0034] Specifically, the analysis determines the port type of the underwater pipe and the possible defect type (such as wear, deformation, crack, etc.) thereof. According to the defect type, the three-dimensional profile features of each defect are defined, such as shape, size, position, etc., which include geometric parameters, texture features and statistical features. Three-dimensional profile data samples of the ports containing various defects are collected, each sample is labeled for defects by a labeling tool, a defect feature dataset is formed, and features representing the defects are extracted from the labeled dataset by feature extraction to form a port defect feature set. The three-dimensional profile data of the port to be detected is obtained, which is compared with the features in the port defect feature set, the matching degree is calculated using a similarity measurement method, and according to the matching result, the defect type and position existing in the port are identified. According to the type, position and severity of the defect, the influence on the port state is evaluated, and according to the evaluation result, the port state data is adjusted accordingly. For example, if wear is detected in the port, the performance parameters of the port are adjusted according to the degree of wear. The compensated data is updated to the port state database to reflect the latest port state. This implementation can more accurately identify defects in the port by configuring the port defect feature set and using these features for defect matching, ensuring the accuracy and reliability of the port state data.

[0035] The automatic centering positioning module 20 is used to create positioning points based on the port state data, control the servo motor and the multi-axis robot for automatic centering positioning based on the positioning points, and generate a sealing activation instruction when the automatic centering positioning reports a successful result. Specifically, based on the port state data, positioning points are created at the corresponding positions of the two ports of the underwater pipe, which are used to guide the subsequent automatic centering operation. The movement of the servo motor (a motor that can accurately control its output torque and speed) and the multi-axis robot (a robot with multiple joints and degrees of freedom, which can flexibly perform complex movements in three-dimensional space) is controlled by programming to make them move to the positioning point positions according to the preset path and speed, realizing the automatic centering of the two ends of the underwater pipe. When the centering positioning is successful (i.e., the coincidence degree of the positioning points of the two ports reaches the preset standard), a sealing activation instruction is generated, preparing for the next sealing operation.

[0036] The dynamic compression locking module 30 is used to receive the sealing activation instruction, call the port state data to fit the heating compression parameters, generate the fitting result, control the sealing compression head and the heating device to perform the heating compression control based on the sealing ring according to the fitting result, and generate the compression feedback. Specifically, according to the port state data (such as material, size, etc.), the best heating compression (a process of softening the material by heating and then applying pressure to make it tightly combined) parameters are fitted by formula, including heating temperature, compression time, pressure size, etc. According to the fitting result, the sealing compression head and the heating device are controlled to heat and compress the sealing ring (a ring-shaped part used to fill the gap between two connecting pieces to play a sealing role), so as to ensure that the sealing ring is tightly combined with the underwater pipe port. The parameters (such as temperature, pressure, etc.) in the compression process are monitored, and when all parameters meet the preset standard, the compression passing feedback information is generated.

[0037] In a possible implementation, the dynamic compression locking module 30 is configured to perform the heating compression parameter fitting by formula, and the formula is as follows:

[0038] ;

[0039] wherein, characterizes the sealing effect parameter, which is used to evaluate the comprehensive effect of compression and heating, is a correction coefficient, which is used to adjust the calculation of compression force and is set based on the material characteristics of the underwater pipe in the port state data, characterizes the internal gas pressure of the expected underwater pipe, is the cross-sectional area of the two ports, is the friction coefficient of the sealing ring material, is the wall thickness of the underwater pipe, is the external diameter of the underwater pipe port, characterizes the heating temperature, , is the ambient temperature, is the thermal effect correction coefficient, is the Young's modulus of the underwater pipe, is the thermal expansion coefficient of the underwater pipe, is the interaction coefficient of heating and compression, is the surface roughness coefficient of the underwater pipe, characterizes the compression force, .

[0040] Specifically, all parameters are substituted into the formula, the formula is calculated, the value of the sealing effect parameter is obtained, and whether the sealing effect meets the expected requirement is analyzed according to the calculation result. If it does not meet the requirement, the heating and pressing parameters (such as pressing force, heating temperature, etc.) are adjusted and recalculated. The parameter substitution, calculation and result analysis process is repeated until the optimal heating and pressing parameter combination is found, so that the sealing effect reaches the best. This implementation mode can scientifically calculate the optimal pressing parameter combination through the fitting of the heating and pressing parameters by the formula, and ensure the accuracy and reliability of the sealing effect.

[0041] As shown in Figure 2 In a possible implementation, the dynamic pressing locking module 30 is configured to: perform key attribute analysis of material performance based on the port state data, configure key parameters; perform comprehensive evaluation index calculation through the key parameters, and generate material performance evaluation results based on the comprehensive evaluation index calculation results; if the material performance evaluation results cannot meet the preset performance threshold, generate support instructions; and support the two ports before pressing feedback according to the support instructions.

[0042] Specifically, the port state data is processed and analyzed to identify the key attributes that affect the material performance, that is, the attributes that have a significant impact on the material performance. These attributes need special attention in the pressing process, including the mechanical properties (such as Young's modulus) of the material, the thermal properties (such as the thermal expansion coefficient) of the material, and the surface characteristics (such as roughness) of the material, etc. According to the results of the key attribute analysis, configure the corresponding key parameters, including pressing force, heating temperature, heating time, etc., which directly affect the pressing effect and material performance. Based on the principles of material science, mechanics and thermodynamics, a comprehensive evaluation model is established, which comprehensively considers the influence of multiple key parameters on material performance. The key parameters are substituted into the evaluation model for calculation to obtain a comprehensive evaluation index. The comprehensive evaluation index is a quantitative index for evaluating the pros and cons of the material performance after pressing. According to the calculation results of the comprehensive evaluation index, the material performance is evaluated. If the evaluation results cannot meet the preset performance threshold (i.e., the material performance does not meet the expected requirement), support instructions are generated. This support instruction is used to guide the support of the two ports before the pressing feedback, to ensure the stability and safety of the material during the pressing process. According to the support instructions, the two ports are supported, and the support mode can be mechanical support or air pressure support, etc. After the support is completed, the pressing operation is performed, and various parameters and performance indicators in the pressing process are monitored in real time. This implementation mode performs material performance evaluation before pressing, and generates support instructions for support operation when the requirement is not met, which prevents pressing failure or safety accidents caused by insufficient material performance in advance. This preventive measure improves the safety and stability of the production process.

[0043] The automatic locking module 40 is used to activate the automatic locking module and generate a test instruction when the compression feedback is a pass result. Specifically, when receiving the feedback information of compression pass, the automatic locking module 40 is activated. After judging that the compression is successful, the automatic locking module 40 generates and sends a test instruction to the inflation test module 50, and prepares to perform the air tightness test.

[0044] The inflation test module 50 is used to perform the air tightness test of the underwater pipe after receiving the test instruction, and monitor the pressure data of the underwater pipe. Specifically, after receiving the test instruction, a certain pressure of gas (such as nitrogen) is filled into the interior of the underwater pipe, and the inflation port is closed. The pressure sensor is used to monitor the pressure change in the interior of the underwater pipe in real time, and record the pressure data.

[0045] The joint analysis module 60 is used to generate an air tightness test result based on the pressure data. Specifically, based on the pressure data monitored by the inflation test module 50, it is analyzed and judged whether the air tightness of the underwater pipe is qualified. If the pressure remains stable or the decline range is within the allowable range within the preset time, it is considered that the air tightness is qualified; otherwise, it is considered that the air tightness is unqualified. The three-dimensional laser scanning technology is used to obtain the accurate three-dimensional profile data of the two ports of the pipe, and the profile data is compared and verified with the pipe detection data. The positioning points are created based on the port state data. The servo motor and the multi-axis robot are used to realize the automatic centering positioning. The heating and compression parameters are fitted according to the port state data. After the compression is successful, the test module is automatically activated. The high-pressure gas is filled into the interior of the pipe to perform the air tightness test. The air tightness test result is generated based on the pressure data. The technical means such as the above realizes the efficiency, automation and precision of the air tightness test of the underwater pipe, and achieves the technical effects of improving the detection efficiency and the accuracy and reliability of the detection result.

[0046] In a possible implementation, the joint analysis module 60 is further configured to: acquire deformation data of the underwater pipe based on the deformation sensor; perform joint leakage probability distribution analysis based on the deformation data and the pressure data, and establish a joint leakage probability distribution analysis result; and establish the air tightness test result based on the joint leakage probability distribution analysis result.

[0047] Specifically, the deformation sensor is a sensor capable of measuring the shape or size change of an object, used to monitor the deformation of underwater pipes under pressure. The deformation data collected by the deformation sensor describes the change in shape or size of the underwater pipe. The deformation data and pressure data are preprocessed, including data cleaning (removing noise and outliers), data interpolation (filling missing values), and data standardization (unifying dimensions). From the preprocessed data, features related to leakage are extracted, such as the rate of change of deformation, the frequency and amplitude of pressure fluctuations, etc. Based on the extracted features, a joint leakage probability distribution analysis model is established, which considers both deformation and pressure data to evaluate the probability of pipe leakage. The model is used to calculate the leakage probability of underwater pipes and generate joint leakage probability distribution analysis results, which show the likelihood of underwater pipe leakage under different conditions. According to safety standards, a leakage probability threshold is set, and when the calculated leakage probability exceeds this threshold, it is considered that the pipe's airtightness has a problem. The joint leakage probability distribution analysis results are compared with the set threshold to determine whether the pipe's airtightness is qualified, and the determination result is output in the form of a report for reference and processing by relevant personnel. This implementation method comprehensively evaluates the leakage risk of underwater pipes by jointly analyzing deformation and pressure data. Deformation data reflects the physical deformation of underwater pipes under stress, and pressure data is directly related to the external force on underwater pipes. Combining the two for analysis more accurately judges the airtightness of underwater pipes.

[0048] In a possible implementation manner, the device further comprises a response monitoring module for monitoring the real-time inflation data, establishing a real-time response monitoring result, verifying the consistency of the test instruction with the real-time response monitoring result, and generating a consistency deviation; an abnormal feedback module for receiving the consistency deviation and generating a control abnormal feedback, and optimizing the inflation test module 50 through the control abnormal feedback.

[0049] Specifically, the response monitoring module collects real-time inflation data from the inflation system, including key parameters such as inflation pressure, inflation rate, inflation time, etc. The collected real-time inflation data is analyzed to extract key information related to the test instructions, such as target inflation pressure, expected inflation rate, etc. The parsed real-time inflation data is compared with the expected values in the test instructions to monitor whether the inflation process is in accordance with the test instructions. According to the results of real-time monitoring, real-time response monitoring results are established, including the compliance of the inflation process, deviation conditions, etc. The real-time response monitoring results are compared with the test instructions for consistency to check whether the inflation process is strictly in accordance with the test instructions. If deviations are detected, the specific values of the deviations, including pressure deviation, time deviation, rate deviation, etc., are calculated, and the calculated deviations are arranged into a report, i.e., consistency deviation, which records the type, size, and occurrence time of the deviation in detail. The abnormal feedback module receives the consistency deviation generated by the response monitoring module, analyzes the received deviation, and determines whether it is an abnormal situation, as well as the nature and severity of the abnormality. According to the deviation analysis results, corresponding control abnormal feedback is generated, including warning information, error code, repair suggestion, etc. Through the control abnormal feedback, the inflation test module 50 is optimized, including adjusting the inflation parameters, repairing system faults, updating the test instructions, etc. This implementation ensures that the inflation test process is strictly in accordance with the test instructions through real-time inflation data response monitoring and consistency verification, reduces the misjudgment or omission caused by test process deviation, improves the test efficiency and stability, and thus improves the accuracy of the test.

[0050] In a possible implementation, the device further comprises a synchronization identification module configured to establish a synchronization identification defect of the underwater pipe based on the air tightness detection result, and to perform attention identification on the underwater pipe based on the synchronization identification defect, so as to complete air tightness detection of the subsequent same batch of underwater pipes.

[0051] Specifically, the air tightness detection result includes detection data (such as pressure change value, leakage rate, etc.) of the underwater pipe. By analyzing the air tightness detection result, defects (such as leakage, substandard pressure, etc.) existing in the underwater pipe are identified. According to the type and degree of the defects, a detailed synchronization identification defect record of the underwater pipe is established, including information such as defect position, size, type, etc. The synchronization identification defect record is used to pay attention to the underwater pipe, and the air tightness detection strategy of other underwater pipes in the same batch is adjusted or optimized, and the air tightness detection of the remaining underwater pipes in the same batch is continued. This implementation optimizes the subsequent detection process based on the feedback of the synchronization identification defect, and uses the discovered defect information to adapt to the actual situation of different batches of pipes, thereby improving the overall detection effect.

[0052] Although the present application makes various references to certain modules in the apparatus according to the embodiments of the present application, however, any number of different modules can be used and run on the user terminal and / or server, the various units and modules are only divided according to the functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific name of each functional unit is only for the convenience of mutual differentiation, and does not serve to limit the protection scope of the present application.

[0053] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application. In some cases, the actions or steps described in the present application can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multi-task processing and parallel processing are possible or can be advantageous.

Claims

1. A device for intelligent detection of air tightness of underwater pipes, characterized in that, The device comprises: A state recognition module is configured to read pipe detection data of the underwater pipe, configure three-dimensional laser scanning software based on the pipe detection data, perform three-dimensional scanning of two ports of the underwater pipe, establish three-dimensional contour data of the ports, verify the state of the two ports based on the three-dimensional contour data and the pipe detection data, and establish port state data; An automatic centering positioning module is configured to create a positioning point based on the port state data, control a servo motor and a multi-axis robot to perform automatic centering positioning based on the positioning point, and generate a sealing activation instruction when the automatic centering positioning reports a successful result; A dynamic compression locking module is configured to perform heating and compression parameter fitting based on the port state data after receiving the sealing activation instruction, generate a fitting result, control a sealing press and a heating device to perform heating and compression control based on a sealing ring based on the fitting result, and generate a compression feedback; An automatic locking module is configured to activate the automatic locking module and generate a test instruction when the compression feedback is a pass result; An inflation test module is configured to perform air tightness testing of the underwater pipe after receiving the test instruction, and monitor pressure data of the underwater pipe; A joint analysis module is configured to generate an air tightness detection result based on the pressure data; The dynamic compression locking module is configured to: Perform heating and compression parameter fitting through a formula, and the formula is as follows: ； wherein characterizes a sealing effect parameter for evaluating the combined effect of pressing and heating, is a correction factor for adjusting the calculation of the pressing force, based on the underwater pipe material properties in the port status data, characterizes the internal air pressure of the intended underwater pipe, is the cross-sectional area of the two ports, is the friction coefficient of the sealing ring material, is the wall thickness of the underwater pipe, is the external diameter of the underwater pipe port, characterizes the heating temperature, , is the ambient temperature, is the thermal effect correction factor, is the Young's modulus of the underwater pipe, is the thermal expansion coefficient of the underwater pipe, is the interaction coefficient of heating and pressing, is the surface roughness coefficient of the underwater pipe, characterizes the pressing force, ; The state recognition module is configured to: Analyze the pipe detection data to generate basic parameters, the basic parameters include diameter, wall thickness, material type, surface roughness, and roundness tolerance, and construct verification standard values based on the basic parameters; Perform deviation calculation of the three-dimensional contour data of the ports based on the verification standard values, and generate port state data based on the deviation calculation result; Configure a port defect feature set; Perform defect matching of the three-dimensional contour data of the ports based on the port defect feature set, and establish a defect matching result; Compensate the port state data based on the defect matching result, and update the port state data.

2. The air tight intelligent detection device for underwater pipes of claim 1, wherein, The dynamic compression locking module is configured to: Perform key attribute analysis of material performance based on the port state data, and configure key parameters; Perform comprehensive evaluation index calculation through the key parameters, and generate a material performance evaluation result based on the comprehensive evaluation index calculation result; Generate a support instruction if the material performance evaluation result cannot meet a preset performance threshold; Support the two ports before the compression feedback based on the support instruction.

3. The apparatus for air tight intelligent inspection of underwater pipes as claimed in claim 1, wherein, The joint analysis module is further configured to: Obtain deformation data of the underwater pipe collected based on a deformation sensor; Perform joint leakage probability distribution analysis based on the deformation data and the pressure data, and establish a joint leakage probability distribution analysis result; Establish the air tightness detection result based on the joint leakage probability distribution analysis result.

4. The apparatus for air tight intelligent inspection of underwater pipes as claimed in claim 1, wherein, The device further comprises: A response monitoring module is configured to perform response monitoring on real-time inflation data, establish real-time response monitoring results, verify consistency of the test instruction based on the real-time response monitoring results, and generate a consistency deviation; An abnormal feedback module is configured to receive the consistency deviation, generate a control abnormal feedback, and optimize the inflation test module based on the control abnormal feedback.

5. The apparatus for air tight intelligent inspection of underwater pipes as claimed in claim 1, wherein, The device further comprises: The synchronous identification module is configured to establish a synchronous identification defect of the underwater pipe according to the air tightness detection result, and to perform attention identification on the underwater pipe based on the synchronous identification defect, so as to complete air tightness detection of subsequent batches after the attention identification is completed.

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