Method for detecting and analyzing defect or damage condition of full-water pipeline

Abstract

The invention discloses a method for detecting and analyzing the defect or damage condition of a full-water pipeline, and the method comprises the steps: presetting a sound wave reflection time threshold value of each medium interface when an underwater robot is located in the middle of the pipeline according to the size of the full-water pipeline, and carrying out the sound wave detection through the underwater robot, the collected reflection sound intensity and reflection time data are transmitted to the data processing module, the data processing module carries out pre-classification, whether the collected reflection time is compared with a sound wave reflection time threshold value or not is judged according to the classification condition, a medium algorithm is matched, and the medium algorithm obtains the distance of the reflection time and the reflection sound intensity; and judging whether the reflection interface accords with a medium interface corresponding to the medium algorithm, if so, uploading and adjusting the underwater robot to keep the middle position according to the distance data, if not, uploading and reporting an error, and finally, receiving data three-dimensional modeling by a modeling analysis module, and generating a three-dimensional detection diagram. The problem that the identification effect of the deformation or damage condition of the pipeline covered by the sediment is poor is solved.

Description

Technical Field

[0001] This invention relates to the field of drainage pipe network inspection technology, specifically to a method for detecting and analyzing defects or damage in full-water pipes. Background Technology

[0002] In the field of drainage pipe network inspection, especially in the inspection of high-water-level or full-water pipes, traditional inspection methods, such as CCTV inspection, often require pretreatment of the pipes, such as dewatering or sealing. This is not only time-consuming and labor-intensive, but may also affect normal drainage function. Therefore, sonar robotic inspection technology has become an important alternative, capable of quickly detecting problems such as sedimentation, deformation, and damage inside pipes without pretreatment.

[0003] In this field, the OtterS powered sonar inspection robot is a self-propelled underwater sonar inspection device for drainage pipe networks, suitable for high-water conditions such as pipes with a diameter of DN500 and above, box culverts, inverted siphons, and rivers. Equipped with a ring-scanning sonar, this device can identify defects in pipes such as sedimentation, deformation, damage, and foreign object penetration, and generate an inspection report. The RSMSNR(A) pipe sonar inspection system is an advanced pipe inspection device suitable for inspecting pipes in water. This system can accurately determine structural and functional defects in pipes and automatically generate an inspection report.

[0004] However, while existing sonar robots and sonar detection systems can identify some obvious pipe defects, they are difficult to effectively identify pipe deformation or damage under sediment cover.

[0005] Therefore, there is an urgent need for a method to detect and analyze defects or damage in full-water pipes, in order to solve the problem of poor identification of deformation or damage in pipes covered by sediment. Summary of the Invention

[0006] This invention addresses the shortcomings of existing technologies by providing a method for detecting and analyzing defects or damage in full-water pipes, thus solving the problem of poor identification of deformation or damage in pipes covered by sediment.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] A method for detecting and analyzing defects or damage in a full-water pipeline includes the following steps:

[0009] Based on the internal dimensions of the full-water pipe, preset acoustic wave reflection time thresholds are established for each medium interface when the underwater robot is positioned in the middle of the pipe. The underwater robot then performs acoustic wave detection at the middle of the full-water pipe and transmits one or more sets of reflected sound intensity and reflection time data collected per unit time to the data processing module.

[0010] The data processing module performs pre-classification based on the reflected sound intensity and the number of reflection time fractions. After classification, it determines whether to compare the collected reflection time with the sound wave reflection time threshold of each medium interface based on the classification results, and matches the corresponding medium algorithm.

[0011] The medium algorithm then calculates the reflection time and reflected sound intensity to obtain the distance between the underwater robot and the reflecting interface, and calculates and determines whether the reflecting interface conforms to the medium interface corresponding to the medium algorithm.

[0012] If the conditions are met, upload the corresponding distance and medium interface data, and adjust the underwater robot to maintain a centered position in the pipeline based on the distance data. If the conditions are not met, upload the corresponding distance and medium interface data and report an error.

[0013] Finally, the modeling and analysis module receives the uploaded data, performs 3D modeling, and generates a 3D inspection map of the internal condition of the inspected pipeline, which is used to identify and determine whether the pipeline is deformed or damaged.

[0014] To optimize the above technical solution, the specific measures also include:

[0015] Furthermore, the step of calculating the distance between the underwater robot and the reflecting interface using the medium algorithm to measure the reflection time and reflected sound intensity, and calculating and determining whether the reflecting interface conforms to the medium interface corresponding to the medium algorithm, includes the following steps:

[0016] Based on the sound wave emission time, reflection time, and the preset sound velocity between the medium interface and the underwater robot, the distance to the current reflecting interface is calculated, and it is determined whether the distance conforms to the preset distance value. The reflectivity is calculated using the collected reflected sound intensity, and the obtained reflectivity is compared with the theoretical reflectivity value of the medium interface to determine whether it conforms to the medium interface corresponding to the medium algorithm.

[0017] Furthermore, the medium interface includes a water-pipe interface, a water-sediment interface, a sediment-pipe interface, and a pipe-soil interface.

[0018] Furthermore, the data processing module pre-classifies the data based on the reflected sound intensity and the number of reflection times. After classification, it determines whether to compare the collected reflection times with the sound wave reflection time thresholds of each medium interface based on the classification results, and matches the corresponding medium algorithm, including the following steps:

[0019] The preset unit time is T. When the underwater robot is in the middle of the pipe, the preset time threshold for acoustic reflection between the underwater robot and the water-sediment interface is T1, the time threshold for acoustic reflection between the underwater robot and the sediment-pipe interface is T2, and the time threshold for acoustic reflection between the underwater robot and the pipe-soil interface is T3.

[0020] If the number of reflected sound intensity and reflection time received by the data processing module within a preset unit time T is one, it is classified into one category and directly matched with the medium algorithm of the water-pipe interface.

[0021] If the number of reflected sound intensity and reflection time received by the data processing module within a preset unit time T is two, it is classified into two categories. The two collected reflection times are compared with the sound wave reflection time threshold of each medium interface, and the corresponding medium algorithm is matched respectively. If the reflection time is less than or equal to T1, the medium algorithm of water-sediment interface is matched. If the reflection time is greater than T1 and less than or equal to T2, the medium algorithm of sediment-pipe interface is matched.

[0022] If the data processing module receives three portions of reflected sound intensity and reflection time within a preset unit time T, it is classified into three categories. The three collected reflection times are compared with the sound wave reflection time thresholds of each medium interface, and the corresponding medium algorithm is matched accordingly. For example, if the reflection time is less than or equal to T1, the medium algorithm for the water-sediment interface is matched; if the reflection time is greater than T1 and less than or equal to T2, the medium algorithm for the sediment-pipe interface is matched; if the reflection time is greater than T2 and less than or equal to T3, the medium algorithm for the pipe-soil interface is matched.

[0023] Furthermore, the medium algorithm for the water-pipe interface includes the following steps:

[0024] The medium algorithm at the water-pipe interface calculates the distance between the underwater robot and the current reflecting interface based on the sound wave emission time, reflection time, and preset water sound speed. It then uploads the corresponding distance and medium interface data and adjusts the underwater robot to maintain the intermediate position in the pipe based on the distance data.

[0025] Furthermore, the preset parameters in the data processing module include, through experimental measurements, the water sound velocity v0, water attenuation coefficient a0, water acoustic impedance Z0, sediment sound velocity v1, sediment attenuation coefficient a1, sediment acoustic impedance Z1, pipe sound velocity v2, pipe attenuation coefficient a2, pipe acoustic impedance Z2, soil sound velocity v3, soil attenuation coefficient a3, soil acoustic impedance Z3, and the emitted sound wave intensity I. 0e .

[0026] Furthermore, the media algorithm for the water-sediment interface includes the following steps:

[0027] The data processing module receives the first reflected sound intensity I1 and the first reflection time t1. Based on the known transmission time t0 and the first reflection time t1, and combined with the water sound speed v0, it calculates the distance h1 between the underwater robot and the sediment.

[0028] h1 = v0 × (t1 - t0) / 2

[0029] Calculate the incident acoustic intensity I at the water-sediment interface i1 :

[0030]

[0031] The first reflected sound intensity I1 is attenuated and corrected to restore the original first reflected sound intensity I at the water-sediment interface. r1 :

[0032]

[0033] Calculate the first reflectivity f1:

[0034]

[0035] Theoretical value of reflectivity f at the water-sediment interface 理论1 :

[0036]

[0037] when If so, it is confirmed that it conforms to the water-sediment interface.

[0038] Furthermore, the medium algorithm for the sediment-pipe interface includes the following steps:

[0039] The data processing module receives the second reflected sound intensity I2 and the second reflection time t2. Based on the first reflection time t1 and the second reflection time t2, and combined with the sound velocity v1 of the sediment, it calculates the distance h2 between the top of the sediment and the bottom of the pipe.

[0040] h2 = v1 × (t2 - t1) / 2

[0041] Calculate the incident acoustic intensity I at the sediment-channel interface i2 :

[0042]

[0043] The second reflected sound intensity I2 is attenuated and corrected to restore the original second reflected sound intensity I at the sediment-pipe interface. r2 :

[0044]

[0045] Calculate the second reflectivity f2

[0046]

[0047] Theoretical value of reflectivity f at the sediment-pipe interface 理论2 :

[0048]

[0049] when If so, it is confirmed that the sediment-channel interface is met.

[0050] Furthermore, the medium algorithm for the pipe-soil interface includes the following steps:

[0051] The data processing module receives the third reflected sound intensity I3 and the third reflection time t3. Based on the second reflection time t2 and the third reflection time t3, and combined with the sound velocity v2 in the pipe, it calculates the pipe thickness h3.

[0052] h3 = v2 × (t3 - t2) / 2

[0053] Calculate the incident sound intensity I at the pipe-soil interface i3 :

[0054]

[0055] Attenuation correction was performed on the third reflected sound intensity I3 to restore the original third reflected sound intensity I at the pipe-soil interface. r3 :

[0056]

[0057] Calculate the third reflectivity f3:

[0058]

[0059] Theoretical value of reflectivity f at the pipe-soil interface 理论3 :

[0060]

[0061] when If so, it is confirmed that the pipe-soil interface is conforming.

[0062] Furthermore, the process of identifying whether the pipeline is deformed or damaged includes the following steps:

[0063] If the generated 3D inspection image shows an irregular cylindrical shape in the pipeline and a sediment-pipeline interface, it can be determined that the pipeline has deformation defects. If a pipeline-soil interface is further present, it can be determined that the pipeline is damaged.

[0064] The beneficial effects of this invention are:

[0065] This invention calculates and analyzes the collected reflected sound intensity and reflection time to obtain the distance between the underwater robot and the reflecting interface. This distance is used to analyze the thickness of sediments and adjust the position of the underwater robot inside the pipeline. By calculating and judging, the corresponding medium interface information is determined and uploaded to the modeling and analysis module. The modeling and analysis module uses the distance data as thickness information and the corresponding interface information to perform three-dimensional modeling, generating a three-dimensional inspection map of the internal condition of the inspected pipeline. This allows users to intuitively identify and judge whether there are conditions such as sediments, deformation, or damage in the pipeline. This invention solves the problem of poor identification of deformation or damage in pipelines covered by sediments. Attached Figure Description

[0066] Figure 1 This is a flowchart illustrating a method for detecting and analyzing defects or damage in a full-water pipeline, as proposed in this invention.

[0067] Figure 2 This is a schematic diagram illustrating an application scenario of the method for detecting and analyzing defects or damage in a full-water pipeline proposed in this invention.

[0068] Figure 3 This is a side view of an application scenario for the method for detecting and analyzing defects or damage in a full-water pipeline proposed in this invention.

[0069] Figure 4 This is a schematic diagram of an underwater robot for detecting and analyzing defects or damage in a full-water pipeline, as proposed in this invention.

[0070] Figure 5 This is a schematic diagram of an onshore integrated device for a method of detecting and analyzing defects or damage in a full-water pipeline proposed in this invention.

[0071] Figure 6 This is a schematic diagram of a healthy pipeline, illustrating the method for detecting and analyzing defects or damage in a full-water pipeline proposed in this invention.

[0072] Figure 7 This is a schematic diagram of pipe deformation, illustrating the method for detecting and analyzing defects or damage in a full-water pipe proposed in this invention.

[0073] Figure 8 This is a schematic diagram of a pipe damage in accordance with the method for detecting and analyzing defects or damage in a full-water pipe proposed in this invention.

[0074] Reference numerals: 1: Onshore integrated equipment; 11: Power module; 12: Data processing module; 13: Modeling and analysis module; 14: Control terminal; 2: Underwater robot; 21: Acoustic wave transmitting module; 22: Acoustic wave receiving module; 23: Motion execution module; 24: Spatial positioning module; 25: Communication module; 3: Cable; 4: Sediment; 5: Pipeline; 6: Soil. Detailed Implementation

[0075] The invention will now be described in further detail with reference to the accompanying drawings.

[0076] As attached Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 and attached Figure 5 As shown in the figure, a method for detecting and analyzing defects or damage in a full-water pipeline according to an embodiment of the present invention includes the following steps:

[0077] Based on the internal dimensions of the full-water pipe 5, the acoustic wave reflection time thresholds for each medium interface are preset when the underwater robot 2 is in the middle position of the pipe 5. The underwater robot 2 performs acoustic wave detection at the middle position of the full-water pipe 5 and transmits one or more sets of reflected sound intensity and reflection time data collected per unit time to the data processing module 12 of the onshore integrated equipment 1.

[0078] The data processing module 12 performs pre-classification based on the reflected sound intensity and the number of reflection time fractions. After classification, it determines whether to compare the collected reflection time with the sound wave reflection time threshold of each medium interface based on the classification results, and matches the corresponding medium algorithm.

[0079] The distance between the underwater robot 2 and the reflecting interface is then obtained by calculating the reflection time and reflected sound intensity using the medium algorithm, and it is also calculated and determined whether the reflecting interface conforms to the medium interface corresponding to the medium algorithm.

[0080] If the conditions are met, upload the corresponding distance and medium interface data, and adjust the underwater robot 2 to maintain the center position in pipe 5 based on the distance data. If the conditions are not met, upload the corresponding distance and medium interface data and report an error.

[0081] Finally, the modeling and analysis module 13 receives the uploaded data and performs three-dimensional modeling to generate a three-dimensional inspection map of the internal condition of the inspected pipe 5, which is used to identify and determine whether the pipe 5 is deformed or damaged.

[0082] This invention calculates and analyzes the collected reflected sound intensity and reflection time to obtain the distance between the underwater robot 2 and the reflecting interface. This distance is used to analyze the thickness of sediments and adjust the position of the underwater robot 2 within the pipe 5. The corresponding medium interface information is determined through calculation and judgment and uploaded to the modeling and analysis module 13. The modeling and analysis module 13 uses the distance data as thickness information and, together with the corresponding interface information, performs three-dimensional modeling to generate a three-dimensional inspection map of the internal condition of the inspected pipe 5. This allows users to intuitively identify and judge whether there are conditions such as sediments, deformation, or damage in the pipe 5. This invention solves the problem of poor identification of deformation or damage in pipes covered by sediments.

[0083] In a further explanation based on the above embodiments, the process of calculating the distance between the underwater robot 2 and the reflecting interface using the medium algorithm to calculate the reflection time and reflected sound intensity, and calculating and determining whether the reflecting interface conforms to the medium interface corresponding to the medium algorithm, includes the following steps:

[0084] Based on the sound wave emission time, reflection time, and the preset medium sound velocity between the medium interface and the underwater robot 2, the distance to the current reflecting interface is calculated, and it is determined whether the distance conforms to the preset distance value; the reflectivity is calculated using the collected reflected sound intensity, and the obtained reflectivity is compared with the theoretical reflectivity value of the medium interface to determine whether it conforms to the medium interface corresponding to the medium algorithm.

[0085] In a further description based on the above embodiments, the aforementioned media interfaces include water-sediment interface, sediment-pipe interface, and pipe-soil interface.

[0086] In a further explanation based on the above embodiments, the data processing module 12 pre-classifies the data based on the reflected sound intensity and the number of reflection times. After classification, it determines whether to compare the collected reflection times with the sound wave reflection time thresholds of each medium interface and matches the corresponding medium algorithm, including the following steps:

[0087] The preset unit time is T. When the underwater robot 2 is in the middle of the pipe 5, the preset time threshold for acoustic reflection between the underwater robot 2 and the water-sediment interface is T1, the time threshold for acoustic reflection between the underwater robot 2 and the sediment-pipe interface is T2, and the time threshold for acoustic reflection between the underwater robot 2 and the pipe-soil interface is T3.

[0088] If the number of reflected sound intensity and reflection time received by the data processing module 12 within a preset unit time T is one, it is classified into one category and directly matched with the medium algorithm of the water-pipe interface.

[0089] If the number of reflected sound intensity and reflection time received by the data processing module 12 within a preset unit time T is two, it is classified into two categories. The two collected reflection times are compared with the sound wave reflection time threshold of each medium interface, and the corresponding medium algorithm is matched respectively. If the reflection time is less than or equal to T1, the medium algorithm of water-sediment interface is matched. If the reflection time is greater than T1 and less than or equal to T2, the medium algorithm of sediment-pipe interface is matched.

[0090] If the data processing module 12 receives three portions of reflected sound intensity and reflection time within a preset unit time T, it is classified into three categories. The three portions of reflection time are compared with the sound wave reflection time threshold of each medium interface, and the corresponding medium algorithm is matched accordingly. For example, if the reflection time is less than or equal to T1, the medium algorithm of water-sediment interface is matched; if the reflection time is greater than T1 and less than or equal to T2, the medium algorithm of sediment-pipe interface is matched; if the reflection time is greater than T2 and less than or equal to T3, the medium algorithm of pipe-soil interface is matched.

[0091] In a further explanation based on the above embodiments, the above-described medium algorithm for the water-pipe interface includes the following steps:

[0092] The medium algorithm at the water-pipe interface calculates the distance between the underwater robot 2 and the current reflection interface based on the sound wave emission time, reflection time, and preset water sound speed. It then uploads the corresponding distance and medium interface data and adjusts the underwater robot 2 to maintain the intermediate position in the pipe 5 based on the distance data.

[0093] In a further explanation based on the above embodiments, the preset parameters in the data processing module 12 include, through experimental measurements, the water sound velocity v0, water attenuation coefficient a0, water acoustic impedance Z0, sediment sound velocity v1, sediment attenuation coefficient a1, sediment acoustic impedance Z1, pipe sound velocity v2, pipe attenuation coefficient a2, pipe acoustic impedance Z2, soil sound velocity v3, soil attenuation coefficient a3, soil acoustic impedance Z3, and the emitted sound wave intensity I. 0e The real number e ≈ 2.71828.

[0094] In a further explanation based on the above embodiments, the above-described media algorithm for the water-sediment interface includes the following steps:

[0095] Data processing module 12 receives the first reflected sound intensity I1 and the first reflection time t1. Based on the known transmission time t0 and the first reflection time t1, and combined with the water sound speed v0, it calculates the distance h1 between the underwater robot 2 and the sediment.

[0096] h1 = v0 × (t1 - t0) / 2

[0097] Calculate the incident acoustic intensity I at the water-sediment interfacei1 :

[0098]

[0099] The first reflected sound intensity I1 is attenuated and corrected to restore the original first reflected sound intensity I at the water-sediment interface. r1 :

[0100]

[0101] Reflectivity is defined as the ratio of reflected sound intensity to incident sound intensity at the interface. The first reflectivity f1 is calculated as follows:

[0102]

[0103] The theoretical value of reflectivity f at a water-sediment interface under perpendicular incidence, based on acoustic impedance. 理论1 :

[0104]

[0105] when If so, it is confirmed that it conforms to the water-sediment interface.

[0106] In a further explanation based on the above embodiments, the above-described media algorithm for the sediment-pipe interface includes the following steps:

[0107] Data processing module 12 receives the second reflected sound intensity I2 and the second reflection time t2. Based on the first reflection time t1 and the second reflection time t2, and combined with the sound velocity v1 of the sediment, it calculates the distance h2 between the top of the sediment and the bottom of the pipe 5.

[0108] h2 = v1 × (t2 - t1) / 2

[0109] Calculate the incident acoustic intensity I at the sediment-channel interface i2 :

[0110]

[0111] The second reflected sound intensity I2 is attenuated and corrected to restore the original second reflected sound intensity I at the sediment-pipe interface. r2 :

[0112]

[0113] Calculate the second reflectivity f2

[0114]

[0115] Theoretical value of reflectivity f at sediment-pipe interface with perpendicular incidence 理论2 :

[0116]

[0117] when If so, it is confirmed that the sediment-channel interface is met.

[0118] In a further explanation based on the above embodiments, the above-described medium algorithm for the pipe-soil interface includes the following steps:

[0119] Data processing module 12 receives the third reflected sound intensity I3 and the third reflection time t3. Based on the second reflection time t2 and the third reflection time t3, and combined with the sound velocity v2 in the pipe, it calculates the pipe thickness h3.

[0120] h3 = v2 × (t3 - t2) / 2

[0121] Calculate the incident sound intensity I at the pipe-soil interface i3 :

[0122]

[0123] Attenuation correction was performed on the third reflected sound intensity I3 to restore the original third reflected sound intensity I at the pipe-soil interface. r3 :

[0124]

[0125] Calculate the third reflectivity f3:

[0126]

[0127] Theoretical value of reflectivity f at the pipe-soil interface under perpendicular incidence 理论3 :

[0128]

[0129] when If so, it is confirmed that the pipe-soil interface is conforming.

[0130] As attached Figure 6 Appendix Figure 7 and attached Figure 8 As shown in the further explanation based on the above embodiments, the above-mentioned identification and determination of whether the pipe 5 is deformed or damaged includes the following steps:

[0131] If the generated 3D inspection image shows that pipe 5 has an irregular cylindrical shape and a sediment-pipe interface, it can be determined that pipe 5 has a deformation defect. If a pipe-soil interface is further present, it can be determined that pipe 5 is damaged. If none of the above conditions are present, then pipe 5 is healthy.

[0132] When processing and analyzing data, this invention takes into account the attenuation characteristics of sound waves in different media, and uses algorithms to correct the reflectivity and reflection time difference of sound waves in order to more accurately identify the type of medium and measure the size of the material.

[0133] A system applied to the method of the present invention may include an underwater robot 2 and a shore-based integrated device 1. The underwater robot has a sound wave emitting module 21 installed at its front end, consisting of a sound wave generator and a emitting probe, integrated with a rotatable mechanism driven by a stepper motor, capable of 360° scanning, for emitting sound waves of a specific frequency. Adjacent to the sound wave emitting module is a sound wave receiving module 22, which includes a high-sensitivity sound wave receiving probe and a signal converter, for receiving and recording the intensity and reflection time information of reflected sound waves. The underwater robot 2 also has a motion execution module 23 responsible for its movement and steering, including a thruster and a direction control device, ensuring stable and uniform movement of the underwater robot 2 within the pipe. The underwater robot 2 also has a communication module 25 for connecting to the shore-based integrated device 1 via a cable 3, responsible for data transmission and receiving shore-based commands, and a spatial positioning module 24 for assisting in spatial positioning, facilitating real-time measurement of the underwater robot 2's three-axis acceleration and angular velocity, odometer recording of the underwater robot 2's travel distance, and sonar scanning angle sensor monitoring the angle of the sound wave emission direction, etc.

[0134] The shore-based integrated device 1 includes a data processing module 12, a modeling and analysis module 13, a power supply module 11, and a control terminal 14. The data processing module 12 is connected to the underwater robot via a cable 3 and is used for data processing and analysis. The modeling and analysis module 13 is used to perform three-dimensional modeling using the processed data to generate intuitive three-dimensional inspection maps. The power supply module 11 includes a rechargeable battery pack and a power management system for power supply. The control terminal 14 is connected to the communication module 25, and the operator can send commands via a computer or remote control to control the movement and functions of the underwater robot 2 and receive real-time images and data.

[0135] This invention tightly connects an underwater robot 2 to a shore-based integrated device 1 via a communication module, enabling data transmission and command reception. Inside the underwater robot 2, a sound wave emitting module 21 and a sound wave receiving module 22 are adjacent and connected by a cable 3 to ensure synchronization of sound wave transmission and reception. The sound wave emitting module 21 is connected to a motion execution module 23, which adjusts the robot's position and attitude according to commands. The sound wave receiving module 22 transmits data to a communication module 25, which then transmits the data to the shore-based integrated device 1. In the shore-based integrated device 1, a data processing module 12 receives, processes, and analyzes the data, identifying the medium type and size, and correcting for sound wave attenuation characteristics. The data processing module 12 transmits the processed data to a modeling and analysis module 13 for 3D modeling. A power supply module 11 provides power to all modules. The communication module 25 is connected to a control terminal 14, enabling bidirectional communication with the underwater robot 2. Through close collaboration between the modules, the entire system completes the inspection task of a full-water pipe 5, providing accurate and comprehensive information about the pipe's internal structure.

[0136] This invention considers the optimization of sound wave transmission and reception. The sound wave transmission module in the underwater robot 2 selects an appropriate sound wave frequency and power based on the pipe material and environmental conditions to reduce sound wave attenuation during propagation. Simultaneously, the sound wave receiving module 22 can employ a high-sensitivity receiving probe, enabling more effective capture of the attenuated sound wave signal.

[0137] This invention obtains the acoustic reflectivity of different interfaces and the sound velocity of various materials in advance through experiments. It uses acoustic reflectivity to identify material types and combines this with the reflection time difference to accurately calculate material dimensions, thereby achieving a deeper level of detection and modeling that reflects the true condition of the pipeline. During 3D modeling, the modeling analysis module 13 incorporates acoustic attenuation correction data to more accurately model the internal conditions of the pipeline 5, ensuring that the model matches the actual situation. This invention can reflect the true condition of the pipeline more deeply, overcoming the limitations of existing sonar robot detection technology and providing a more accurate and comprehensive solution for the detection of full-water pipelines.

[0138] It should be noted that the terms such as "upper", "lower", "left", "right", "front", and "back" used in the invention are only for clarity of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0139] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that those skilled in the art will understand that various changes, modifications, substitutions, refinements, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and these variations should be considered within the scope of protection of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for detecting and analyzing defects or damage in a full-water pipeline, characterized in that, Includes the following steps: Based on the internal dimensions of the full-water pipe, preset acoustic wave reflection time thresholds are established for each medium interface when the underwater robot is positioned in the middle of the pipe. The underwater robot then performs acoustic wave detection at the middle of the full-water pipe and transmits one or more sets of reflected sound intensity and reflection time data collected per unit time to the data processing module. The data processing module performs pre-classification based on the reflected sound intensity and the number of reflection time fractions. After classification, it determines whether to compare the collected reflection time with the sound wave reflection time threshold of each medium interface based on the classification results, and matches the corresponding medium algorithm. The medium algorithm then calculates the reflection time and reflected sound intensity to obtain the distance between the underwater robot and the reflecting interface, and calculates and determines whether the reflecting interface conforms to the medium interface corresponding to the medium algorithm. If the conditions are met, upload the corresponding distance and medium interface data, and adjust the underwater robot to maintain a centered position in the pipeline based on the distance data. If the conditions are not met, upload the corresponding distance and medium interface data and report an error. Finally, the modeling and analysis module receives the uploaded data, performs 3D modeling, and generates a 3D inspection map of the internal condition of the inspected pipeline, which is used to identify and determine whether the pipeline is deformed or damaged.

2. The method for detecting and analyzing defects or damage in a full-water pipeline according to claim 1, characterized in that, The process of calculating the distance between the underwater robot and the reflecting interface using a medium algorithm to determine the reflection time and reflected sound intensity, and calculating and determining whether the reflecting interface conforms to the medium interface corresponding to the medium algorithm, includes the following steps: Based on the sound wave emission time, reflection time, and the preset sound velocity between the medium interface and the underwater robot, the distance to the current reflecting interface is calculated, and it is determined whether the distance conforms to the preset distance value. The reflectivity is calculated using the collected reflected sound intensity, and the obtained reflectivity is compared with the theoretical reflectivity value of the medium interface to determine whether it conforms to the medium interface corresponding to the medium algorithm.

3. The method for detecting and analyzing defects or damage in a full-water pipeline according to claim 1, characterized in that: The media interfaces include water-pipe interface, water-sediment interface, sediment-pipe interface, and pipe-soil interface.

4. The method for detecting and analyzing defects or damage in a full-water pipeline according to claim 3, characterized in that, The data processing module pre-classifies the data based on the reflected sound intensity and the number of reflection time fractions. After classification, it determines whether to compare the collected reflection time with the sound wave reflection time threshold of each medium interface and matches the corresponding medium algorithm, including the following steps: The preset unit time is T. When the underwater robot is in the middle of the pipe, the preset time threshold for acoustic reflection between the underwater robot and the water-sediment interface is T1, the time threshold for acoustic reflection between the underwater robot and the sediment-pipe interface is T2, and the time threshold for acoustic reflection between the underwater robot and the pipe-soil interface is T3. If the number of reflected sound intensity and reflection time received by the data processing module within a preset unit time T is one, it is classified into one category and directly matched with the medium algorithm of the water-pipe interface. If the number of reflected sound intensity and reflection time received by the data processing module within a preset unit time T is two, it is classified into two categories. The two collected reflection times are compared with the sound wave reflection time threshold of each medium interface, and the corresponding medium algorithm is matched respectively. If the reflection time is less than or equal to T1, the medium algorithm of water-sediment interface is matched. If the reflection time is greater than T1 and less than or equal to T2, the medium algorithm of sediment-pipe interface is matched. If the data processing module receives three portions of reflected sound intensity and reflection time within a preset unit time T, it is classified into three categories. The three collected reflection times are compared with the sound wave reflection time thresholds of each medium interface, and the corresponding medium algorithm is matched accordingly. For example, if the reflection time is less than or equal to T1, the medium algorithm for the water-sediment interface is matched; if the reflection time is greater than T1 and less than or equal to T2, the medium algorithm for the sediment-pipe interface is matched; if the reflection time is greater than T2 and less than or equal to T3, the medium algorithm for the pipe-soil interface is matched.

5. The method for detecting and analyzing defects or damage in a full-water pipeline according to claim 4, characterized in that, The medium algorithm for the water-pipe interface includes the following steps: The medium algorithm at the water-pipe interface calculates the distance between the underwater robot and the current reflecting interface based on the sound wave emission time, reflection time, and preset water sound speed. It then uploads the corresponding distance and medium interface data and adjusts the underwater robot to maintain the intermediate position in the pipe based on the distance data.

6. The method for detecting and analyzing defects or damage in a full-water pipeline according to claim 4, characterized in that: The data processing module includes preset parameters such as water sound velocity v0, water attenuation coefficient a0, water acoustic impedance Z0, sediment sound velocity v1, sediment attenuation coefficient a1, sediment acoustic impedance Z1, pipe sound velocity v2, pipe attenuation coefficient a2, pipe acoustic impedance Z2, soil sound velocity v3, soil attenuation coefficient a3, soil acoustic impedance Z3, and emitted sound wave intensity I, all obtained through experimental measurements. 0e .

7. The method for detecting and analyzing defects or damage in a full-water pipeline according to claim 6, characterized in that, The medium algorithm for the water-sediment interface includes the following steps: The data processing module receives the first reflected sound intensity I1 and the first reflection time t1. Based on the known transmission time t0 and the first reflection time t1, and combined with the water sound speed v0, it calculates the distance h1 between the underwater robot and the sediment. h1 = v0 × (t1 - t0) / 2 Calculate the incident acoustic intensity I at the water-sediment interface i1 : The first reflected sound intensity I1 is attenuated and corrected to restore the original first reflected sound intensity I at the water-sediment interface. r1 : Calculate the first reflectivity f1: Theoretical value of reflectivity f at the water-sediment interface 理论1 : when If so, it is confirmed that it conforms to the water-sediment interface.

8. The method for detecting and analyzing defects or damage in a full-water pipeline according to claim 7, characterized in that, The medium algorithm for the sediment-pipe interface includes the following steps: The data processing module receives the second reflected sound intensity I2 and the second reflection time t2. Based on the first reflection time t1 and the second reflection time t2, and combined with the sound velocity v1 of the sediment, it calculates the distance h2 between the top of the sediment and the bottom of the pipe. h2 = v1 × (t2 - t1) / 2 Calculate the incident acoustic intensity I at the sediment-channel interface i2 : The second reflected sound intensity I2 is attenuated and corrected to restore the original second reflected sound intensity I at the sediment-pipe interface. r2 : Calculate the second reflectivity f2 Theoretical value of reflectivity f at the sediment-pipe interface 理论2 : when If so, it is confirmed that the sediment-channel interface is met.

9. The method for detecting and analyzing defects or damage in a full-water pipeline according to claim 8, characterized in that, The media algorithm for the pipe-soil interface includes the following steps: The data processing module receives the third reflected sound intensity I3 and the third reflection time t3. Based on the second reflection time t2 and the third reflection time t3, and combined with the sound velocity v2 in the pipe, it calculates the pipe thickness h3. h3 = v2 × (t3 - t2) / 2 Calculate the incident sound intensity I at the pipe-soil interface i3 : Attenuation correction was performed on the third reflected sound intensity I3 to restore the original third reflected sound intensity I at the pipe-soil interface. r3 : Calculate the third reflectivity f3: Theoretical value of reflectivity f at the pipe-soil interface 理论3 : when If so, it is confirmed that the pipe-soil interface is conforming.

10. The method for detecting and analyzing defects or damage in a full-water pipeline according to claim 9, characterized in that, The process of identifying and determining whether a pipeline is deformed or damaged includes the following steps: If the generated 3D inspection image shows an irregular cylindrical shape in the pipeline and a sediment-pipeline interface, it can be determined that the pipeline has deformation defects. If a pipeline-soil interface is further present, it can be determined that the pipeline is damaged.

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