Drainage pipe network sludge sounding method and device and electronic equipment

Abstract

The invention relates to the technical field of drainage pipe network operation and maintenance, and discloses a drainage pipe network sludge sounding method and device and electronic equipment, and the method comprises the steps: obtaining strain data and inertia measurement data at different moments, which are collected in a process that the drainage pipe network sludge sounding device is lowered to the bottom of a pipe network from an inlet of the pipe network; identifying time points when the drainage pipe network sludge sounding device enters different interfaces according to the strain data, wherein the interfaces comprise an air-water body interface, a water body-sludge interface and a sludge-bottom interface; determining vertical depth values of the different interfaces according to the time points when the drainage pipe network sludge sounding device enters the different interfaces and the inertial measurement data corresponding to the time points respectively; and calculating a sludge depth value and a liquid level depth value based on the vertical depth value corresponding to each interface. According to the invention, the sludge depth of the pipeline can be rapidly and accurately measured under complex well conditions.

Description

Technical Field

[0001] This invention relates to the field of drainage pipe network operation and maintenance technology, specifically to a method, device, and electronic equipment for measuring the depth of silt in drainage pipe networks. Background Technology

[0002] Drainage pipe networks are the core infrastructure of urban drainage systems. Severe siltation inside the pipes compresses the water-carrying cross-section, leading to a significant decrease in drainage capacity. Simultaneously, it increases carbon source loss along the pipes and can even cause the accumulation of toxic gases such as hydrogen sulfide and methane in enclosed spaces, potentially triggering safety accidents. Urban drainage systems must be dredged regularly to maintain their designed drainage capacity and reduce operational risks. Achieving "precise dredging" requires routine, quantitative measurement of silt thickness in inspection wells.

[0003] However, current methods for measuring silt in inspection wells are extremely limited. Most maintenance personnel can only determine the presence of siltation based on experience or simple probes, lacking repeatable and traceable quantitative data. On-site operations typically involve reactive silt removal only after a level alarm or wellhead overflow occurs, making it difficult to promptly grasp the siltation evolution trend in different well sections. Although some pipeline robots exist on the market that can perform downhole surveys, the operation procedures are complex, costly, and have long mobilization cycles, making them unsuitable for daily inspections and unable to cover the vast number of dispersed wells.

[0004] In summary, drainage operation and maintenance urgently needs a method that can quickly measure the depth of siltation under complex well conditions, and also needs to have high measurement accuracy and data processing capabilities to support the formulation of dredging plans and refined operation and maintenance. Summary of the Invention

[0005] This invention provides a method for measuring the depth of silt in drainage pipe networks, which solves the problems of low efficiency of manual inspection, single interface identification criteria, and large interference with measurement accuracy in existing silt measurement technologies for drainage pipe networks.

[0006] In a first aspect, the present invention provides a method for measuring the depth of silt in drainage pipe networks, the method comprising:

[0007] The process involves acquiring strain and inertial measurement data at different times during the descent of a sludge depth sounding device from the inlet to the bottom of the drainage network; identifying the entry points of the device into different interfaces based on the strain data, including the air-water interface, water-sludge interface, and sludge-bottom interface; determining the vertical depth values ​​of different interfaces based on the entry points of the device and the corresponding inertial measurement data; and calculating the sludge depth and liquid level depth values ​​based on the vertical depth values ​​corresponding to each interface.

[0008] The sludge depth measurement method for drainage pipe networks provided by this invention first acquires strain and inertial measurement data at different times during the device lowering process, providing multi-source time-series data support for interface identification and depth calculation, avoiding the limitations of a single data source. Then, based on the strain data, it accurately identifies the entry time points of three key interfaces in the sequence of "air-water-sludge-pipe bottom," solving the problems of easy interference and high misjudgment rate in traditional interface identification techniques. Furthermore, it calculates the vertical depth value corresponding to each interface by combining the inertial measurement data at each interface time point. Finally, based on the interface vertical depth values ​​with a unified benchmark, it directly calculates the sludge depth and liquid level depth values, improving the accuracy of sludge depth measurement in drainage pipe networks and providing direct and reliable data support for the formulation of drainage pipe network dredging plans and refined operation and maintenance.

[0009] In one alternative implementation, the step of identifying the time point at which the drainage network sludge depth sounding device enters the air-water interface based on strain data includes: The strain increment of strain data within different time windows is calculated according to the first preset step size; when the strain increment is greater than or equal to the first preset value, it is determined that the strain increment meets the amplitude judgment condition, and the first time point when the strain increment meets the amplitude judgment condition is determined as the candidate time point. The first preset value is determined based on the average strain of the air section and the preset noise standard deviation; if the strain increment continues to rise in multiple consecutive time windows after the candidate time point, and the difference in strain increment in adjacent time windows is less than the preset noise standard deviation threshold, then the candidate time point is determined as the time point when the drainage network sludge depth sounding device enters the air-water interface.

[0010] The sludge depth measurement method for drainage pipe networks provided by this invention first acquires strain and inertial measurement data at different times during the device lowering process, improving the scientific rigor of data acquisition. Furthermore, since the strain data of different interfaces have different characteristics, the entry time points of three key interfaces can be identified based on the acquired accurate strain data. Then, the vertical depth of each interface can be inferred based on each time point, solving the problem of high misjudgment rate caused by interface identification errors in traditional sludge depth measurement techniques. Combining the inertial measurement data corresponding to each interface time point, the vertical depth value corresponding to each interface is calculated. Finally, based on the interface vertical depth values ​​with a unified benchmark, the sludge depth and liquid level depth values ​​are directly calculated, improving the accuracy of sludge depth measurement in drainage pipe networks and providing direct and reliable data support for the formulation of drainage pipe network dredging plans and refined operation and maintenance.

[0011] In one alternative implementation, the step of identifying the time point at which the drainage network sludge depth sounding device enters the water-sludge interface based on strain data includes: The strain increment and strain rate of change of strain data within different time windows are calculated according to the second preset step size, which is greater than the first preset step size. When the strain increment is greater than or equal to the second preset value, it is determined that the strain increment meets the increment judgment condition. The first time point when the strain increment meets the increment judgment condition is determined as the candidate time point. The second preset value is determined based on the expected strain increment of the water section and the preset sludge resistance increment threshold within the second preset step size. If the strain rate of change continues to rise in multiple consecutive time windows after the candidate time point, and the difference between the strain energy and the average strain energy in the water section is greater than the preset threshold, then the candidate time point is determined as the time point when the drainage network sludge depth sounding device enters the water-sludge interface.

[0012] The silt depth measurement method for drainage pipe networks provided by this invention first calculates the strain increment and strain change rate within different time windows according to a second preset step size. This adapts to the characteristics of stress changes from the water section to the silt section and simultaneously captures the magnitude and rate of change of the stress increment, effectively distinguishing between the linear growth of low resistance in the water section and the abrupt change of high resistance in the silt section. Furthermore, the sum of the expected strain increment of the water section and the preset resistance increment threshold of the silt section within the second preset step size is used as the increment judgment condition to screen candidate time points that significantly exceed the expected stress growth in the water section. This ensures that the candidate points coincide with the moment the probe just contacts the silt layer, avoiding duplicate judgments. Finally, through dual verification of a continuous increase in the strain change rate across multiple windows and a difference between the strain energy and the average strain energy in the water section exceeding a preset threshold, the candidate time points are further screened to obtain the time point at which the device enters the water-silt interface. This not only conforms to the physical law that the higher density and stronger viscous resistance of the silt layer lead to a simultaneous increase in the rate of change of force and energy intensity, but also eliminates false abrupt changes caused by water flow disturbances and local hard lumps within the silt, ultimately achieving accurate identification of the water-silt interface time point.

[0013] In one alternative implementation, the step of identifying the time point at which the drainage network sludge depth sounding device enters the sludge-bottom interface based on strain data includes: The maximum strain increment of strain data within different time windows is calculated according to the third preset step size, which is smaller than the first preset step size. When the maximum strain increment is greater than or equal to the third preset value, it is determined that the maximum strain increment meets the impact judgment condition. The first time point when the maximum strain increment meets the impact judgment condition is determined as the candidate time point. The third preset value is determined based on the expected strain increment of the mud section and the preset bottom resistance increment threshold within the third preset step size. If the candidate time point also meets the condition that the estimated speed of the device lowering is less than the speed threshold, then the candidate time point is determined as the time point when the drainage pipe network sludge depth sounding device enters the sludge-bottom interface.

[0014] The sludge depth measurement method for drainage pipe networks provided by this invention first calculates the maximum strain increment within different time windows according to a third preset step length, adapting to the instantaneous characteristics of bottom impact. This method can accurately capture the millisecond-level strain surge characteristics when the probe touches the bottom, and effectively distinguish the difference between normal resistance growth within the sludge and bottom impact. Furthermore, the sum of the expected strain increment of the sludge segment and the preset bottom resistance increment threshold within the third preset step length is used as the impact judgment condition. Candidate time points that significantly exceed the expected force growth of the sludge segment are selected, ensuring that the candidate points closely match the actual instantaneous moment when the probe just touches the bottom of the pipe, avoiding duplicate judgments. Finally, through dual verification that the maximum strain increment meets the impact judgment condition and the estimated speed of the device lowering is less than the speed threshold, the candidate time points are further filtered to obtain the time point when the device enters the sludge-bottom interface. This not only conforms to the physical law of the instantaneous strong impact brought by the hard pipe bottom upon contact, verifying the authenticity of the abrupt change, but also eliminates false impacts caused by interference from local hard lumps within the sludge and well wall impacts, ultimately achieving accurate identification of the sludge-bottom interface time point. In one optional implementation, the vertical depth values ​​of different interfaces are determined based on the time points at which the drainage network sludge depth sounding device enters different interfaces and the corresponding inertial measurement data at each time point, including: The vertical depth of the air-water interface is calculated based on the time point at which the sludge sounding device in the drainage network enters the air-water interface and the corresponding inertial measurement data. Based on the time point at which the sludge depth sounding device enters the water-sludge interface and the corresponding inertial measurement data, the vertical depth value of the water-sludge interface is calculated. The vertical depth of the silt-bottom interface is calculated based on the time point at which the silt sounding device enters the silt-bottom interface and the corresponding inertial measurement data.

[0015] The sludge depth measurement method for drainage pipe networks provided by this invention correlates the trigger time points of each interface with the corresponding inertial measurement data, ensuring that the temporal reference for depth calculation is unbiased. Furthermore, it independently calculates vertical depth values ​​for the three interfaces: air-water, water-sludge, and sludge-bottom, adhering to the state transition logic of air-water-sludge-pipe bottom, ensuring the independence and accuracy of the depth reference for each interface. Specifically, it utilizes the axial displacement and pitch angle of the rod in the inertial measurement data, and uses an attitude projection correction formula to offset deviations caused by rod tilt. Simultaneously, it relies on the time constraint of the total measurement duration to suppress IMU integral drift, ensuring that the depth values ​​closely match the actual vertical height. The final output vertical depth values ​​for the three interfaces provide reliable data support for the subsequent rapid and accurate calculation of sludge depth and liquid level depth values ​​through geometric difference, ensuring the accuracy and reliability of the overall measurement results.

[0016] In one optional implementation, strain data and inertial measurement data are collected at different times during the process of the drainage network sludge depth sounding device being lowered from the network inlet to the bottom of the network, including: Acquire raw strain data and raw inertial measurement data; dynamically adjust the filtering window according to the estimated velocity of the inertial measurement unit, and filter the raw strain data sequentially according to the filtering window to remove high-frequency noise and isolated spikes to obtain strain data; perform static segment offset estimation on the raw inertial measurement data to obtain offset inertial measurement data; filter the offset inertial measurement data to obtain inertial measurement data.

[0017] The drainage pipe network silt depth measurement method provided by this invention first acquires raw strain data and raw inertial measurement data. Then, based on the estimated velocity of the inertial measurement unit, the filtering window is dynamically adjusted to process the raw strain data. This process not only accurately removes high-frequency noise and isolated spikes through graded filtering, but also adapts to changes in the device's descent speed. This avoids over-filtering at low speeds leading to the loss of interface abrupt features, or insufficient filtering at high speeds resulting in residual interference, ensuring the authenticity of the strain signal and the integrity of key features. Furthermore, static segment offset estimation is performed on the raw inertial measurement data to effectively eliminate the inherent zero-bias error of the sensor, avoiding IMU data computation distortion at the source. Finally, the de-biased inertial measurement data is further filtered to obtain inertial measurement data that combines stability and real-time performance, improving the overall measurement robustness and data reliability.

[0018] In one alternative implementation, the inertial measurement data includes roll angle, and the method further includes: When the roll angle exceeds the preset roll angle threshold, it is determined that the drainage network silt depth measuring device is tilted, and a prompt message is output to remind the staff to adjust the attitude of the device.

[0019] The drainage pipe network sludge depth measurement method provided by this invention monitors the roll angle in inertial measurement data in real time. When the roll angle exceeds a preset threshold, it outputs a prompt to remind the staff to adjust the device attitude, avoiding depth measurement distortion caused by rod tilting. This ensures the accuracy of subsequent interface measurement, identification, and sludge depth and liquid level depth calculation, effectively improving the overall measurement reliability and data credibility. Secondly, this invention provides a drainage pipe network sludge depth measurement device, which includes: The data acquisition module is used to acquire strain data and inertial measurement data at different times during the process of the drainage pipe network sludge depth sounding device being lowered from the pipe network inlet to the bottom of the pipe network; The interface recognition module is used to identify the time points when the silt sounding device in the drainage network enters different interfaces based on strain data. The interfaces include the air-water interface, the water-silt interface, and the silt-bottom interface. The different interface depth calculation module is used to determine the vertical depth value of different interfaces based on the time point when the sludge depth sounding device of the drainage pipe network enters different interfaces and the inertial measurement data corresponding to each time point. The silt depth calculation module is used to calculate the silt depth and liquid level depth based on the vertical depth values ​​corresponding to each interface.

[0020] Thirdly, the present invention provides an electronic device, comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the drainage network silt depth measurement method of the first aspect or any corresponding embodiment described above.

[0021] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the drainage network silt depth measurement method of the first aspect or any corresponding embodiment described above.

[0022] Fifthly, the present invention provides a computer program product, including computer instructions, which are used to cause a computer to execute the drainage network silt depth measurement method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of an application scenario according to an embodiment of the present invention; Figure 2 This is a schematic flowchart of a method for measuring the depth of silt in a drainage network according to an embodiment of the present invention; Figure 3 This is a structural block diagram of a drainage network sludge depth measuring device according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0027] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0028] As an optional application scenario of this invention, the specific application environment architecture or specific hardware architecture on which the drainage pipe network sludge depth measurement method depends is described here. For example... Figure 1 As shown, the architecture system may include a measurement carrier, a sensor submodule, a computing and communication submodule, and a human-computer interaction submodule.

[0029] The measuring carrier is the drainage network sludge depth measuring device in this embodiment of the invention. Its main body is a multi-section telescopic rod, with the outer tube made of lightweight, high-strength carbon fiber composite material. The inner wall is reinforced with ribs and buffer pads to withstand impacts from hitting the well wall or bottom. The sensor subsystem is centrally installed in a conical probe at the bottom of the telescopic rod: a conical-cylindrical integrated strain gauge array is arranged around it to sense axial pressure and bottom impact; a six-axis IMU is coaxially fixed with the strain gauges for real-time acquisition of attitude, acceleration, and angular velocity; a temperature compensation unit is attached tightly to the strain gauges to correct the sensitivity coefficient in real time. These bottom sensors are connected to the top of the telescopic rod via a bend-resistant spring harness. A sealed electronic compartment is located at the top of the telescopic rod, housing a high-performance MCU, external Flash storage, a 4G full-network communication module, and a GPS / BeiDou dual-mode positioning module. The electronic compartment shell also houses an OLED display screen, backlit multi-function buttons, a buzzer, and a bubble level, facilitating one-handed operation. The 12V lithium battery and power management board are integrated and installed on the top back cover, providing power to all modules and transmitting signals and electrical energy downwards through spring wires.

[0030] The system employs a five-level architecture, using layered isolation to enhance reliability and facilitate maintenance. The entire unit is powered by a 12V lithium battery, and the power management board integrates DC-DC voltage regulation and overcurrent protection. Power and communication lines are jointly routed within a spring harness inside the telescopic rod of the measuring carrier, automatically adjusting its length as the rod extends or retracts to prevent cable tangling. The system specifically includes: (1) Data acquisition layer: It consists of strain gauge bridge, IMU and temperature compensation unit. The analog signal is converted into digital quantity through differential amplification and ADC module. The strain array occupies the high-speed SPI channel to achieve millisecond-level sampling. The IMU and temperature unit are acquired through I2C bus. All signals are transmitted to the top control board along the shielded spring wire inside the telescopic rod to ensure stability in humid environment.

[0031] (2) Fusion Layer: The MCU runs real-time tasks under FreeRTOS scheduling, performs timestamp alignment, attitude compensation, and temperature calibration on strain, IMU, and temperature data, and generates unique location information for the current measurement point by referring to the top GPS / BeiDou positioning data. This layer caches the processed multi-source data in a unified format measurement frame for the recognition layer to call.

[0032] (3) Identification layer: Deployed locally on the MCU, it includes algorithms such as interface detection and anomaly recognition. The identification layer jointly judges the attitude / displacement and strain characteristics output by the fusion layer. If noise exceeds the limit or attitude drift is detected, it will immediately prompt the operator to lower the device again or keep it stationary.

[0033] (4) Output layer: responsible for visualization and communication. The OLED screen and buzzer provide step prompts in the form of graphics and sound; local storage is written to Flash in a circular buffer to ensure that data is not lost when power is off; the 4G module is accessed through UART, supports MQTT / HTTP dual protocols, and automatically switches to the buffer retransmission strategy when communication is interrupted.

[0034] (5) Service Layer: Located on the cloud platform, it focuses on the parsing, visualization and report output of measurement data. After the terminal device uploads the standardized message, the platform displays the measurement results at the corresponding GPS location and provides historical comparison and statistical analysis functions.

[0035] According to an embodiment of the present invention, a method for measuring the depth of silt in a drainage pipe network is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0036] This embodiment provides a method for measuring the depth of silt in drainage pipe networks, which can be used on the aforementioned mobile terminals, such as mobile phones and tablets. Figure 2This is a flowchart of a method for measuring the depth of silt in a drainage network according to an embodiment of the present invention, as follows: Figure 2 As shown, the process includes the following steps: Step S201: Obtain strain data and inertial measurement data at different times during the process of the drainage pipe network sludge depth sounding device being lowered from the pipe network inlet to the bottom of the pipe network.

[0037] In one alternative embodiment, the process of the operator lowering the drainage network sludge depth measuring device from the network inlet can be divided into deployment initialization and dynamic lowering.

[0038] Specifically, the deployment initialization involves the operator adjusting the telescopic rod of the drainage network sludge depth sounding device to the expected well depth. After starting the equipment, the self-test program sequentially checks the battery level, sensor communication status, and storage space. If any module malfunctions, an error code will be displayed on the OLED screen, preventing further operation and avoiding operation with a faulty module. After the self-test passes, the system performs strain zero-point calibration, IMU static alignment, GPS cold start / differential verification, and prompts the operator to complete preliminary vertical leveling using a bubble level. During this stage, the wellhead position P0, timestamp T0, and rod code are recorded as reference benchmarks for subsequent calculations.

[0039] Dynamic descent involves the operator slowly lowering the measuring device as prompted. When the device is 20-30cm from the estimated liquid level, pressing the "Start Measurement" button switches the device to a 50Hz high-frequency acquisition mode, recording strain and inertial measurement data (IMU data) in real time at different moments. If the IMU detects a tilt angle exceeding a threshold, the screen will prompt "Adjust Attitude" to avoid excessive tilting that could cause depth distortion. After touching the bottom of the well, if the impact signal and zero-velocity criterion are met, the system enters the "bottom-hold" logic. This "bottom-hold" logic ends when the operator maintains this state for more than 200ms.

[0040] Furthermore, strain and inertial measurement data were collected at different times during the process of the device being lowered from the pipeline inlet to the bottom of the pipeline. The acquired strain and inertial measurement data are the raw data directly collected by the sensors after preprocessing and feature extraction.

[0041] Step S202: Identify the time points at which the silt sounding device in the drainage network enters different interfaces based on the strain data. The interfaces include the air-water interface, the water-silt interface, and the silt-bottom interface.

[0042] In one optional embodiment, the air-water interface refers to the spatial boundary point where the probe of the water pipe network silt sounding device enters the water environment within the pipe network from the air environment; the water-silt interface refers to the spatial boundary point where the probe of the drainage pipe network silt sounding device enters the silt deposition layer environment from the water environment within the pipe network; and the silt-bottom interface refers to the spatial boundary point where the probe of the drainage pipe network silt sounding device reaches the bottom of the inner wall of the drainage pipe network from the silt deposition layer environment.

[0043] In one optional embodiment, when determining the three interfaces of air-water, water-silt, and silt-bottom based on strain data, the quality of the strain data is first judged. If the noise exceeds the limit, re-collection is required; if the data quality meets the standard, the depth value of each interface is identified based on the strain data.

[0044] Step S203: Determine the vertical depth value of different interfaces based on the time points at which the sludge depth sounding device enters different interfaces and the corresponding inertial measurement data at each time point.

[0045] In one optional embodiment, based on the time points when the probe of the drainage network silt sounding device enters the three interfaces of air-water, water-silt, and silt-bottom, the vertical depth value consistent with the actual geographic space of each interface is calculated according to the entry time point of each interface and the corresponding IMU data.

[0046] Step S204: Calculate the sludge depth value and liquid level depth value based on the vertical depth value corresponding to each interface.

[0047] In one optional embodiment, the vertical depth of the sludge-bottom interface refers to the total depth of the pipe bottom, and the vertical depth of the air-water interface refers to the water surface height. Therefore, the difference between the vertical depth of the sludge-bottom interface and the vertical depth of the air-water interface is the liquid level depth. The vertical depth of the water-sludge interface refers to the height of the upper surface of the sludge layer. Therefore, the difference between the vertical depth of the sludge-bottom interface and the vertical depth of the water-sludge interface is the sludge depth.

[0048] Furthermore, the results, such as sludge thickness and liquid level, are displayed numerically on the OLED screen, along with recommended actions, such as "Immediate dredging is recommended." The operator presses the confirmation button to complete the cloud upload, and the system automatically connects to the 4G network, pushing the measurement report and diagnostic logs to the cloud. If the network signal is insufficient on-site, the report will be cached and automatically resent once the signal is restored, ensuring data closure.

[0049] The sludge depth measurement method for drainage pipe networks provided in this embodiment first acquires strain and inertial measurement data at different times during the device lowering process, improving the scientific rigor of data acquisition. Furthermore, since the strain data of different interfaces have different characteristics, the entry time points of three key interfaces can be identified based on the acquired accurate strain data. Then, the vertical depth of each interface can be inferred based on each time point, solving the problem of high misjudgment rate caused by interface identification errors in traditional sludge depth measurement techniques. Combining the inertial measurement data corresponding to each interface time point, the vertical depth value corresponding to each interface is calculated. Finally, based on the interface vertical depth value with a unified benchmark, the sludge depth value and liquid level depth value are directly calculated, improving the accuracy of sludge depth measurement in drainage pipe networks and providing direct and reliable data support for the formulation of drainage pipe network dredging plans and refined operation and maintenance.

[0050] In some optional embodiments, step S202 above, the step of identifying the time point at which the drainage network sludge depth sounding device enters the air-water interface based on strain data, includes: Step a1: Calculate the strain increment of strain data within different time windows according to the first preset step size.

[0051] In one optional embodiment, since the density of water is about 1000 kg / m³ and the density of air is about 1.2 kg / m³, the density of water is much greater than that of air. Therefore, when the sludge depth sounding device for drainage pipe networks enters the water body from the air, the buoyancy and water pressure on the probe will increase significantly, causing the axial pressure sensed by the strain gauge to rise in a step. Therefore, the air-water interface can be identified based on the strain increment of the strain data within different time windows.

[0052] Furthermore, the first preset step size is a reasonable time window selection adapted to the high-frequency sampling frequency, which can be 0.1s. The strain increment Δσ(t)=σ(t)-σ(t-0.1s) of the strain data within different time windows is calculated according to the first preset step size to capture the changing trend.

[0053] Step a2: When the strain increment is greater than or equal to the first preset value, it is determined that the strain increment meets the amplitude determination condition, and the first time point when the strain increment meets the amplitude determination condition is determined as the candidate time point.

[0054] In one alternative embodiment, a force reference for the air section needs to be established before the probe contacts the liquid surface. The system calculates the average strain μ of the first 0.5 seconds or the first N sampling points (N≥25). air and standard deviation σ noise μ air σ represents the baseline force level when the probe is subjected to gravity alone in the air. noiseThis characterizes the inherent noise experienced by the probe in the air, including mechanical vibration and electronic noise. These two parameters provide a statistical benchmark for subsequent abrupt change detection. The first preset value is determined based on the mean strain in the air section and the preset noise standard deviation, with the amplitude determination condition being σ(t) ≥ μ. air +2σ noise This criterion is based on statistical principles. When the strain value exceeds the mean of the air section plus twice the standard deviation, it can be considered that the stress state has significantly deviated from the air section benchmark, and physically, the probe begins to be subjected to water pressure.

[0055] Furthermore, for each time point, the strain increment at each time point is calculated sequentially, and it is determined whether the strain increment at each time point meets the amplitude judgment condition. The time point at which the first strain increment meets the amplitude judgment condition is determined as the candidate time point.

[0056] Step a3: If the strain increment continues to rise in multiple consecutive time windows after the candidate time point, and the difference in strain increment between adjacent time windows is less than the preset noise standard deviation threshold, then the candidate time point is determined as the time point when the drainage network sludge sounding device enters the air-water interface.

[0057] In one optional embodiment, if the strain increment continues to rise over multiple consecutive time windows after a candidate time point, it indicates that the strain is showing a continuous upward trend rather than instantaneous fluctuations, thus avoiding false triggering caused by operational jitter or water flow disturbance. Simultaneously, if the difference in strain increment within adjacent time windows of a candidate time point is less than a preset noise standard deviation threshold, it indicates that the change process is relatively smooth, excluding step-like abrupt changes caused by abnormal events such as sudden impacts to the well wall, ensuring that a normal water entry process is identified. A candidate time point that simultaneously meets both of the above conditions can be determined as the time point when the drainage network sludge depth sounding device enters the air-water interface.

[0058] Specifically, the preset noise standard deviation threshold can be taken as 3σ. noise If the strain increment continues to increase for three consecutive time windows after the candidate time point, and the difference in strain increment between adjacent time windows is less than 3σ, then... noise If so, then the candidate time point is determined as the time point when the sludge sounding device in the drainage network enters the air-water interface.

[0059] The silt depth measurement method for drainage pipe networks provided in this embodiment first calculates the strain increment within different time windows according to a first preset step size, intuitively reflecting the stress change. Further, using the sum of the average strain in the air section and the preset noise standard deviation as the amplitude judgment condition, candidate time points that significantly deviate from the stable stress state in the air section are screened, ensuring that the candidate time points closely match the actual instant the probe just contacts the water surface, avoiding duplicate judgments. Finally, through the dual verification of a continuous increase in strain increment across multiple windows and the difference between adjacent strain increments being less than the preset noise standard deviation, the candidate time points are further screened to obtain the time point when the device enters the air-water interface. This not only conforms to the physical law that water pressure increases linearly with depth after entering the water, verifying the authenticity of the abrupt change, but also eliminates false abrupt changes caused by sudden interference such as operational vibration and well wall impact. Ultimately, this achieves accurate identification of the air-water interface time point, providing a precise timing reference for the subsequent calculation of the corresponding vertical depth value at this interface.

[0060] In some optional embodiments, step S202 above, which involves identifying the time point at which the drainage network sludge depth sounding device enters the water-sludge interface based on strain data, includes: Step b1: Calculate the strain increment and strain change rate of strain data within different time windows according to the second preset step size, where the second preset step size is greater than the first preset step size.

[0061] In one optional embodiment, when determining the water-sludge interface, as the probe enters the sludge layer from the water, the resistance experienced by the probe increases significantly rather than spikes because the density of sludge is typically 1200-1800 kg / m³, which is greater than that of water, and because sludge has viscosity and shear resistance. Therefore, a second preset step size larger than the first preset step size is needed to provide a more sufficient time window for measuring more accurate data. Simultaneously, the rheological properties of sludge cause the pressure to change at a greater rate with depth than in pure water, manifested as a significant increase in the strain rate of change (k-resistance) and a substantial increase in strain energy (En_w(t)). Therefore, the water-sludge interface can be identified based on the strain increment of strain data within different time windows.

[0062] Specifically, when the silt sounding device in the drainage network enters the air-water interface, the water pressure increases linearly with depth, which can be expressed as p = ρgh, where ρ is the density of water, g is the acceleration due to gravity, and h is the depth. Ideally, the strain rate of change k1(t) within the water section should remain relatively stable, with a theoretical value of approximately k1(t) = ρg·A / K, where A is the effective pressure-bearing area of ​​the probe, and K is the strain sensitivity coefficient. The strain rate of change within the second preset step-size sliding window is continuously calculated within the water section, and the median is taken as S. water The reference value is used to suppress the effects of instantaneous fluctuations and outliers. Simultaneously, the average strain energy En within the water section is calculated. water , as an energy benchmark.

[0063] Furthermore, the second preset step size can be 0.2 s. The strain increment and strain rate of change within different time windows are calculated according to this second preset step size. The strain increment is Δσ. window =σ(t)-σ(t-0.2s), the strain rate can be calculated using the central difference formula.

[0064] Step b2: When the strain increment is greater than or equal to the second preset value, it is determined that the strain increment meets the increment judgment condition, and the first time point when the strain increment meets the increment judgment condition is determined as the candidate time point.

[0065] In one optional embodiment, the second preset value is determined based on the expected strain increment of the water segment within the second preset step length and the preset mud segment resistance increment threshold.

[0066] The increment determination condition is Δσ window ≥S water ×0.2s+Δ sludge The physical meaning of this criterion is: if the probe is still in the pure water section, the linear increase in strain increment within 0.2s should be approximately S. water ×0.2s. When the actual increment exceeds the expected value by more than the threshold Δ sludge When this occurs, it indicates an accelerated rate of force increase, physically corresponding to entering a denser, more resistive silt layer. The preset threshold for silt section resistance increment Δ... sludge The experimentally calibrated values ​​reflect the typical resistance increments of silt with different hardness.

[0067] Specifically, for each time point, the strain increment at each time point is calculated sequentially, and it is determined whether the strain increment at each time point meets the increment judgment condition. The time point at which the first strain increment meets the increment judgment condition is determined as the candidate time point.

[0068] Step b3: If the strain change rate continues to rise in multiple consecutive time windows after the candidate time point, and the difference between the strain energy and the average strain energy in the water section is greater than a preset threshold, then the candidate time point is determined as the time point when the drainage network sludge depth sounding device enters the water-sludge interface.

[0069] In an optional embodiment, if the strain rate of change continues to rise over multiple consecutive time windows after a candidate time point, it indicates that the fluctuation is not instantaneous. Simultaneously, if the difference between the strain energy at the candidate time point and the average strain energy within the water segment is greater than a preset threshold, it indicates that the viscosity and shear resistance of the silt will lead to a significant increase in energy density. This judgment condition serves as an auxiliary confirmation, improving the robustness of the determination. Strain energy reflects the resistance intensity experienced by the probe. A candidate time point that simultaneously meets both of the above conditions can be determined as the time point at which the drainage network silt sounding device enters the water-silt interface.

[0070] Specifically, if the strain change rate remains higher than S for 0.2 s after the candidate time point... water The threshold of 1.5 times is based on a large amount of statistical data and can effectively distinguish the slope difference between water sections and mud sections. Furthermore, ΔEn = En appears simultaneously. w(t) -En water If the value is greater than the preset threshold, then the candidate time point can be determined as the time point when the drainage network sludge depth sounding device enters the water-sludge interface.

[0071] The silt depth measurement method for drainage pipe networks provided in this embodiment first calculates the strain increment and strain change rate within different time windows according to a second preset step size. This not only adapts to the characteristics of stress changes from the water section to the silt section but also simultaneously captures the magnitude and rate of change of the stress increment, effectively distinguishing between the linear growth of low resistance in the water section and the abrupt change of high resistance in the silt section. Furthermore, the sum of the expected strain increment of the water section and the preset resistance increment threshold of the silt section within the second preset step size is used as the increment judgment condition to screen out candidate time points that significantly exceed the expected stress growth in the water section. This ensures that the candidate points coincide with the moment the probe just contacts the silt layer, avoiding duplicate judgments. Finally, through dual verification of a continuous increase in the strain change rate across multiple windows and a difference between the strain energy and the average strain energy in the water section exceeding a preset threshold, the candidate time points are further screened to obtain the time point at which the device enters the water-silt interface. This not only conforms to the physical law that the higher density and stronger viscous resistance of the silt layer lead to a simultaneous increase in the rate of change of force and energy intensity but also eliminates false abrupt changes caused by interference from water flow disturbances and local hard lumps within the silt, ultimately achieving accurate identification of the time point at the water-silt interface.

[0072] In some optional embodiments, step S202 above, the step of identifying the time point at which the drainage network sludge depth sounding device enters the sludge-bottom interface based on strain data, includes: Step c1: Calculate the maximum strain increment of strain data within different time windows according to the third preset step size, where the third preset step size is smaller than the first preset step size.

[0073] In one optional embodiment, when determining the silt-bottom interface, a violent impact event occurs when the probe touches the hard bottom of the pipe from the silt layer. Unlike the continuous resistance of the silt, the impact is instantaneous, characterized by a rapid increase in strain within a very short time, typically within 50ms, while the probe's descent speed rapidly drops to zero. When the probe reaches the hard bottom of the pipe network from the silt layer, the force experienced is a dramatic, spike-like change on a millisecond scale. The impact duration is much shorter than the step change at the air-water interface and the gradual increase at the water-silt interface. Therefore, a third preset step size smaller than the first preset step size is required to accurately identify the silt-bottom interface.

[0074] Specifically, when the sludge depth sounding device in the drainage network enters the water-sludge interface, the strain rate k1(t) within the sludge section should remain relatively stable due to the linear increase in sludge pressure with depth. Within the sludge section, the strain rate is continuously calculated over a 0.2s sliding window, and the median is taken as S. sludge Reference value. S sludge Usually greater than S water This reflects the density and resistance characteristics of the silt.

[0075] Furthermore, the third preset step size can be 0.05s, and the maximum strain increment Δσ within different time windows is calculated according to the third preset step size. peak =max(σ(t)-σ(t-0.05s)).

[0076] Step c2: When the maximum strain increment is greater than or equal to the third preset value, it is determined that the maximum strain increment meets the impact judgment condition, and the first time point when the maximum strain increment meets the impact judgment condition is determined as the candidate time point.

[0077] In an optional embodiment, the third preset value is determined based on the expected strain increment of the mud section within the third preset step length and the preset bottom resistance increment threshold.

[0078] The impact determination condition is Δσ peak ≥S sludge ×0.05s+Δ bottom The physical meaning of this criterion is: if the probe is still being lowered normally into the silt, the linear increase in strain increment within 50ms should be approximately S. sludge ×0.05s. When the actual increment exceeds the expected value by more than the threshold Δ bottom This indicates an impact event exceeding normal silt resistance, physically corresponding to bottoming out. A 50ms window length captures the instantaneous impact while avoiding noise interference from excessively short windows. Δ bottom Obtained through experimental calibration, it reflects the intensity characteristics of a typical bottoming impact.

[0079] Specifically, for each time point, the maximum strain increment at each time point is calculated sequentially, and it is determined whether the maximum strain increment at each time point meets the impact judgment condition. The time point at which the first maximum strain increment meets the impact judgment condition is determined as the candidate time point.

[0080] Step c3: If the candidate time point still satisfies the condition that the estimated speed of the device lowering is less than the speed threshold, then the candidate time point is determined as the time point when the drainage network sludge depth sounding device enters the sludge-bottom interface.

[0081] In an optional embodiment, if the candidate time point also satisfies that it is less than the velocity threshold within the same time window, and the velocity threshold can be 0.01 m / s, it means that the probe velocity is close to zero, which physically corresponds to stopping the descent after touching the bottom. This can ensure that the actual bottom-touching event is identified, rather than hard blocks or foreign objects in the silt. In other words, the candidate time point is determined to be the time point when the drainage network silt depth measuring device enters the silt-bottom interface.

[0082] The sludge depth measurement method for drainage pipe networks provided in this embodiment first calculates the maximum strain increment within different time windows according to a third preset step size. This adapts to the instantaneous characteristics of bottom impact, accurately capturing the millisecond-level strain surge when the probe touches the bottom, and effectively distinguishing the difference between normal resistance growth within the sludge and bottom impact. Furthermore, the sum of the expected strain increment of the sludge segment within the third preset step size and the preset bottom resistance increment threshold is used as the impact judgment condition. Candidate time points that significantly exceed the expected force growth of the sludge segment are selected, ensuring that the candidate time points closely match the actual instantaneous moment when the probe just touches the bottom of the pipe, avoiding duplicate judgments. Finally, through dual verification that the maximum strain increment meets the impact judgment condition and the estimated speed of the device lowering is less than the speed threshold, the candidate time points are further filtered to obtain the time point when the device enters the sludge-bottom interface. This not only conforms to the physical law of the instantaneous strong impact brought by the hard pipe bottom upon contact, verifying the authenticity of the abrupt change, but also eliminates false impacts caused by interference from local hard lumps within the sludge and well wall impacts, ultimately achieving accurate identification of the sludge-bottom interface time point.

[0083] In some optional implementations, the vertical depth values ​​of different interfaces are determined based on the time points at which the drainage network sludge depth sounding device enters different interfaces, and the corresponding inertial measurement data at each time point, including: The vertical depth of the air-water interface is calculated based on the time point at which the sludge sounding device in the drainage network enters the air-water interface and the corresponding inertial measurement data.

[0084] In an optional embodiment, the vertical depth value of the air-water interface can be calculated by the following formula:

[0085] In the formula, The moment of entering the air-water interface The axial displacement of the rod. The moment of entering the air-water interface The cosine value of the probe's pitch angle ranges from [0,1].

[0086] Based on the time point at which the silt sounding device enters the water-silt interface and the corresponding inertial measurement data, the vertical depth value of the water-silt interface is calculated.

[0087] In an optional embodiment, the vertical depth of the water-sludge interface can be calculated using the following formula:

[0088] In the formula, It is the moment of entering the water-silt interface. The axial displacement of the rod. It is the moment of entering the water-silt interface. The cosine value of the probe's pitch angle ranges from [0,1].

[0089] The vertical depth of the silt-bottom interface is calculated based on the time point at which the silt sounding device enters the silt-bottom interface and the corresponding inertial measurement data.

[0090] In an alternative embodiment, the vertical depth value of the silt-bottom interface can be calculated by the following formula:

[0091] In the formula, It is the moment of entering the silt-bottom interface. The axial displacement of the rod. It is the moment of entering the water-silt interface. The cosine value of the probe's pitch angle ranges from [0,1].

[0092] In one optional embodiment, the IMU accumulates drift error during long-term integration; the longer the descent time, the greater the axial displacement d of the rod. IMU(t) The greater the deviation in its vertical projection, the more it affects the depth calculation of the three interfaces. Therefore, it is necessary to constrain the time from the start of measurement to the bottoming determination.

[0093] Specifically, the time constraint refers to recording t at the start of the measurement. start Record t when the rod tip touches the bottom (state transition from C to D). bottom Calculate Δt=t bottom t start The measurement requires that Δt be less than or equal to the first preset duration. To reduce misuse caused by critical situations, when Δt is greater than the second preset duration, a prompt "Descending too slowly, please speed up" will be given, and a buzzer will alert the operator. If Δt reaches the first preset duration but has not yet reached the bottom, the measurement will be immediately terminated and marked as invalid to prevent further amplification of IMU drift. The duration is less than the preset duration but greater than the second preset duration.

[0094] For example, the first preset duration can be 15 seconds, and the second preset duration can be 12 seconds.

[0095] Furthermore, if a measurement exceeds the time limit or is deemed invalid, the system will prompt "Measurement needs to be repeated" and automatically clear the current measurement cache. For measurements that meet the time constraints, the system will directly pass the three interface depths to the fusion layer.

[0096] The sludge depth measurement method for drainage pipe networks provided in this embodiment associates the trigger time points of each interface with the corresponding inertial measurement data to ensure that the temporal reference for depth calculation is unbiased. Vertical depth values ​​are then calculated independently for the three interfaces: air-water, water-sludge, and sludge-bottom, conforming to the state transition logic of air-water-sludge-pipe bottom, ensuring the independence and accuracy of the depth reference for each interface. Specifically, the axial displacement and pitch angle of the rod in the inertial measurement data are used to offset the deviation caused by rod tilt through an attitude projection correction formula. Simultaneously, the time constraint of the total measurement duration suppresses IMU integral drift, ensuring that the depth value closely matches the actual vertical height. The final output vertical depth values ​​for the three interfaces provide reliable data support for the subsequent rapid and accurate calculation of sludge depth and liquid level depth values ​​using geometric differences, ensuring the accuracy and reliability of the overall measurement results.

[0097] In some optional implementations, strain data and inertial measurement data are acquired at different times during the process of lowering the drainage network sludge sounding device from the network inlet to the bottom of the network, including: Step d1: Obtain the raw strain data and raw inertial measurement data.

[0098] In one optional embodiment, the raw strain data comes from the integrated cone-cylinder strain gauge array inside the probe. The analog pressure signal is converted into a digital quantity through differential amplification and ADC module, and the force information such as axial pressure and bottom impact experienced by the probe in air, water, and silt is recorded. The raw inertial measurement data comes from a six-axis IMU fixed coaxially with the strain gauge. It acquires three-dimensional raw acceleration data and three-dimensional raw angular velocity data through the I2C bus, and records motion information such as attitude changes and movement speed during the device's descent.

[0099] Step d2: Dynamically adjust the filtering window based on the estimated velocity of the inertial measurement unit, and sequentially filter the original strain data according to the filtering window to remove high-frequency noise and isolated spikes, thereby obtaining the strain data.

[0100] In one optional embodiment, the IMU estimates the speed in real time and dynamically adjusts the filter window length based on the estimation speed: the faster the downsampling speed, the shorter the window to ensure the real-time performance of abrupt signal changes; the slower the downsampling speed, the longer the window to improve signal smoothness. Furthermore, the original strain data is sequentially filtered according to the filter window length. A fourth-order Butterworth low-pass filter can be used, with the digital filter designed based on a 50Hz sampling rate and a cutoff frequency f.c =8Hz, sampling period Δt=20s, output strain signal σ lp(t) This is used to suppress high-frequency noise introduced by water flow impact and hand tremors. Furthermore, a median filter with a window length of 3 is applied to the strain signal to remove isolated spikes and occasional interference.

[0101] Step d3 involves performing static segment offset estimation on the original inertial measurement data to obtain de-biased inertial measurement data.

[0102] In one optional embodiment, the raw IMU data, such as acceleration and angular velocity, has an inherent zero bias. Direct use of this data can lead to attitude calculation distortion and displacement integral drift. Debiased inertial measurement data is obtained by performing static segment bias estimation on the raw inertial measurement data. This is done by statistically analyzing the average value of the raw IMU data over a certain period and using this average value as the zero bias compensation amount, which is then subtracted from the raw data. Specifically: Debiased acceleration = Raw acceleration - Average static acceleration; Debiased angular velocity = Raw angular velocity - Average static angular velocity.

[0103] Step d4: Filter the biased inertial measurement data to obtain the inertial measurement data.

[0104] In one optional embodiment, the debiased inertial measurement data is filtered using a complementary filter, combining the advantages of the debiased acceleration and angular velocity data: angular velocity data has a fast short-term response and can accurately capture rapid attitude changes; acceleration data has good long-term stability and can correct attitude drift caused by angular velocity integral.

[0105] The two types of data are fused using a complementary filtering algorithm, and the final outputs are pitch angle θ(t), roll angle φ(t), and attitude compensation acceleration a. z(t) Among them, the attitude compensation acceleration a is fitted using a short-window polynomial. z(t) The instantaneous velocity v can be obtained est(t) The axial displacement d of the rod is obtained by integrating the real-time instantaneous velocity. IMU(t) .

[0106] The drainage network silt depth measurement method provided in this embodiment first acquires raw strain data and raw inertial measurement data. Then, based on the estimated velocity of the inertial measurement unit, the filtering window is dynamically adjusted to process the raw strain data. This process not only accurately removes high-frequency noise and isolated spikes through graded filtering, but also adapts to changes in the device's descent speed. This avoids over-filtering at low speeds leading to the loss of interface abrupt features, or insufficient filtering at high speeds resulting in residual interference, ensuring the authenticity of the strain signal and the integrity of key features. Furthermore, static segment offset estimation is performed on the raw inertial measurement data to effectively eliminate the inherent zero-bias error of the sensor, avoiding IMU data computation distortion at the source. Finally, the de-biased inertial measurement data is further filtered to obtain inertial measurement data that combines stability and real-time performance, improving the overall measurement robustness and data reliability.

[0107] In some optional implementations, the inertial measurement data includes the roll angle, and the drainage network sludge depth measurement method provided according to the embodiments further includes: When the roll angle exceeds the preset roll angle threshold, it is determined that the drainage network silt depth measuring device is tilted, and a prompt message is output to remind the staff to adjust the attitude of the device.

[0108] In one optional embodiment, during the dynamic lowering phase of the device, the roll angle φ(t) is monitored in real time. When it exceeds the preset threshold for the roll angle, it indicates that the left and right tilt of the rod has caused the lowering trajectory to deviate from the vertical direction. At this time, the prompt message "Adjust posture" is output to remind the staff to adjust the posture of the device.

[0109] The silt depth measurement method for drainage pipe networks provided in this embodiment monitors the roll angle in inertial measurement data in real time. When the roll angle exceeds a preset threshold, it outputs a prompt to remind the staff to adjust the device posture, avoiding depth measurement distortion caused by the tilt of the rod. This ensures the accuracy of subsequent interface measurement, identification, and silt depth and liquid level depth calculation, effectively improving the overall measurement reliability and data credibility.

[0110] This embodiment also provides a silt depth measuring device for drainage pipe networks. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0111] This embodiment provides a device for measuring the depth of silt in drainage pipe networks, such as... Figure 3 As shown, it includes: The data acquisition module 301 is used to acquire strain data and inertial measurement data at different times during the process of the drainage pipe network sludge depth sounding device being lowered from the pipe network inlet to the bottom of the pipe network.

[0112] The interface recognition module 302 is used to identify the time points when the drainage network silt depth sounding device enters different interfaces based on strain data. The interfaces include the air-water interface, the water-silt interface, and the silt-bottom interface.

[0113] The different interface depth calculation module 303 is used to determine the vertical depth value of different interfaces based on the time point when the drainage pipe network sludge depth sounding device enters different interfaces and the inertial measurement data corresponding to each time point.

[0114] The silt depth calculation module 304 is used to calculate the silt depth value and liquid level depth value based on the vertical depth value corresponding to each interface.

[0115] The drainage network silt depth measuring device provided in this embodiment of the invention can execute the drainage network silt depth measuring method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method. Further functional descriptions of the above modules and units are the same as in the corresponding embodiments described above, and will not be repeated here.

[0116] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0117] The following is a detailed reference. Figure 4 This diagram illustrates a structural schematic suitable for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 401, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 402 or a program loaded from memory 408 into random access memory (RAM) 403. The RAM 403 also stores various programs and data required for the operation of the electronic device. The processor 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0118] Typically, the following devices can be connected to I / O interface 405: input devices 406 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 407 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 408 including, for example, magnetic tapes, hard disks, etc.; and communication devices 409. Communication device 409 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0119] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 409, or installed from a memory 408, or installed from a ROM 402. When the computer program is executed by the processor 401, it performs the functions defined in the drainage network sludge depth measurement method of the embodiments of the present invention.

[0120] Figure 4 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0121] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the drainage network sludge depth measurement method shown in the above embodiments is implemented.

[0122] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0123] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A method for measuring the depth of silt in drainage pipe networks, characterized in that, The method includes: Strain and inertial measurement data were collected at different times during the process of lowering the sludge depth sounding device from the inlet of the drainage pipe network to the bottom of the pipe network. Based on the strain data, the time points at which the drainage network silt depth measuring device enters different interfaces are identified. The interfaces include the air-water interface, the water-silt interface, and the silt-bottom interface. The vertical depth values ​​of different interfaces are determined based on the time points at which the drainage network sludge depth measuring device enters different interfaces and the corresponding inertial measurement data at each time point. The silt depth and liquid level depth are calculated based on the vertical depth values ​​corresponding to each interface.

2. The method according to claim 1, characterized in that, The steps for identifying the time point at which the drainage network sludge depth sounding device enters the air-water interface based on the strain data include: Calculate the strain increment of strain data within different time windows according to the first preset step size; When the strain increment is greater than or equal to a first preset value, it is determined that the strain increment meets the amplitude determination condition. The first preset value is determined based on the average strain value of the air section and the preset noise standard deviation. If the strain increment continues to rise within multiple consecutive time windows after the candidate time point, and the difference in strain increment within adjacent time windows is less than a preset noise standard deviation threshold, then the candidate time point is determined as the time point when the drainage network sludge depth sounding device enters the air-water interface.

3. The method according to claim 2, characterized in that, The steps for identifying the time point at which the drainage network silt depth sounding device enters the water-silt interface based on the strain data include: The strain increment and strain rate of change of strain data within different time windows are calculated according to the second preset step size, where the second preset step size is greater than the first preset step size. When the strain increment is greater than or equal to the second preset value, it is determined that the strain increment meets the increment determination condition. The second preset value is determined based on the expected strain increment of the water section within the second preset step and the preset mud section resistance increment threshold. If the strain change rate continues to rise within multiple consecutive time windows after the candidate time point, and the difference between the strain energy and the average strain energy in the water section is greater than a preset threshold, then the candidate time point is determined as the time point when the drainage network silt depth sounding device enters the water-silt interface.

4. The method according to claim 2, characterized in that, The steps for identifying the time point at which the drainage network sludge depth sounding device enters the sludge-bottom interface based on the strain data include: The maximum strain increment of strain data within different time windows is calculated according to a third preset step size, wherein the third preset step size is smaller than the first preset step size. When the maximum strain increment is greater than or equal to the third preset value, it is determined that the maximum strain increment meets the impact judgment condition. The third preset value is determined based on the expected strain increment of the mud section within the third preset step length and the preset bottom resistance increment threshold. If the candidate time point still satisfies the condition that the estimated speed of the device lowering is less than the speed threshold, then the candidate time point is determined as the time point when the drainage network sludge depth sounding device enters the sludge-bottom interface.

5. The method according to claim 1, characterized in that, The vertical depth values ​​of different interfaces are determined based on the time points at which the drainage network sludge depth sounding device enters different interfaces, and the corresponding inertial measurement data at each time point, including: The vertical depth value of the air-water interface is calculated based on the time point at which the drainage network sludge depth sounding device enters the air-water interface and the corresponding inertial measurement data. The vertical depth of the water-sludge interface is calculated based on the time point at which the drainage network sludge depth sounding device enters the water-sludge interface and the corresponding inertial measurement data. The vertical depth of the silt-bottom interface is calculated based on the time point at which the silt sounding device enters the silt-bottom interface and the corresponding inertial measurement data.

6. The method according to claim 1, characterized in that, Strain and inertial measurement data were collected at different times during the process of lowering the sludge depth sounding device from the inlet to the bottom of the drainage network, including: Acquire raw strain data and raw inertial measurement data; The filtering window is dynamically adjusted based on the estimated velocity of the inertial measurement unit. The original strain data is then filtered sequentially according to the filtering window to remove high-frequency noise and isolated spikes, thereby obtaining the strain data. Static segment offset estimation is performed on the original inertial measurement data to obtain de-biased inertial measurement data; The bias-debiased inertial measurement data is filtered to obtain inertial measurement data.

7. The method according to claim 1, characterized in that, The inertial measurement data includes the roll angle, and the method further includes: When the roll angle exceeds the preset roll angle threshold, it is determined that the drainage network silt depth measuring device is tilted, and a prompt message is output. The prompt message is used to remind the staff to adjust the attitude of the device.

8. A device for measuring the depth of silt in drainage pipe networks, characterized in that, The device includes: The data acquisition module is used to acquire strain data and inertial measurement data at different times during the process of the drainage pipe network sludge depth sounding device being lowered from the pipe network inlet to the bottom of the pipe network; The interface recognition module is used to identify the time points when the drainage network silt depth measuring device enters different interfaces based on the strain data. The interfaces include the air-water interface, the water-silt interface, and the silt-bottom interface. The different interface depth calculation module is used to determine the vertical depth value of different interfaces based on the time point when the drainage network sludge depth measuring device enters different interfaces and the inertial measurement data corresponding to each time point. The silt depth calculation module is used to calculate the silt depth and liquid level depth based on the vertical depth values ​​corresponding to each interface.

9. An electronic device, characterized in that, include: The system includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the silt depth measurement method for drainage pipe networks as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the drainage network silt depth measurement method according to any one of claims 1 to 7.

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